Workspace and joint space analysis of the 3-RPS parallel robot - Archive ouverte HAL Access content directly
Conference Papers Year : 2014

Workspace and joint space analysis of the 3-RPS parallel robot

Abstract

The Accurate calculation of the workspace and joint space for 3 RPS parallel robotic manipulator is a highly addressed research work across the world. Researchers have proposed a variety of methods to calculate these parameters. In the present context a cylindrical algebraic decomposition based method is proposed to model the workspace and joint space. It is a well know feature that this robot admits two operation modes. We are able to find out the set in the joint space with a constant number of solutions for the direct kinematic problem and the locus of the cusp points for the both operation mode. The characteristic surfaces are also computed to define the uniqueness domains in the workspace. A simple 3-RPS parallel with similar base and mobile platform is used to illustrate this method.
Fichier principal
Vignette du fichier
Chablat_Jha_Rouillier_Moroz_2014_hal.pdf (555.17 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01006614 , version 1 (16-06-2014)

Identifiers

  • HAL Id : hal-01006614 , version 1

Cite

Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz. Workspace and joint space analysis of the 3-RPS parallel robot. ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. pp.1-10. ⟨hal-01006614⟩
746 View
804 Download

Share

Gmail Facebook X LinkedIn More