Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2017

Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph

Résumé

This paper presents a classification of 3T1R parallel manipulators based on the wrench graph. By using the theory of reciprocal screws, the properties of the three-dimensional projective space, the wrench graph and the su-perbracket decomposition of Grassmann-Cayley algebra; six typical wrench graphs for 3T1R parallel manipulators are obtained along with their singularity conditions. Furthermore, the paper shows a way in which each of the obtained typical wrench graphs can be used in order to synthesize new 3T1R parallel manipulator architectures with known singularity conditions and with an understanding of their geometrical properties and assembly conditions.
Fichier principal
Vignette du fichier
JMR2017_Amine_Mokhiamar_Caro.pdf (517.12 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01721206 , version 1 (01-03-2018)

Identifiants

Citer

Semaan Amine, Ossama Mokhiamar, Stéphane Caro. Classification of 3T1R Parallel Manipulators Based on Their Wrench Graph. Journal of Mechanisms and Robotics, 2017, 9 (1), ⟨10.1115/1.4035188⟩. ⟨hal-01721206⟩
151 Consultations
190 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More