A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

Résumé

Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space and in the workspace. It is shown that a cusp (resp. a node) defines a point of tangency (resp. a crossing point) in the workspace between the singular curves and the curves associated with the so-called characteristics surfaces. The study is conducted on a planar 3-RPR manipulator for illustrative purposes.
Fichier principal
Vignette du fichier
Zaiter-Wenger-ChablatCMSM11_Final_Version.pdf (553.23 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00598302 , version 1 (06-06-2011)

Identifiants

Citer

Abdel Kader Zaiter, Philippe Wenger, Damien Chablat. A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes. 4th International Congress Design and Modeling of Mechanical Systems, May 2011, Sousse, Tunisia. pp.1-8. ⟨hal-00598302⟩
182 Consultations
66 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More