Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism - Archive ouverte HAL
Chapitre D'ouvrage Année : 2020

Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism

Résumé

This paper deals with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an endoscope. This mechanism is composed of the three legs (2USP-U) to connect the base to a moving platform. As the manipulator can get up to six solutions to the direct kinematic problem (DKP) in four aspects, non-singular assembly modes changing trajectories may exist. The aim of the paper is to check whether a regular workspace centred on home pose can be defined in such a way that no such trajectory exists in this workspace.

Domaines

Géométrie algébrique [math.AG] Automatique / Robotique
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Swaminath Venkateswaran  : Connectez-vous pour contacter le contributeur

https://hal.science/hal-02568293

Soumis le : mardi 26 mai 2020-11:13:03

Dernière modification le : jeudi 17 octobre 2024-08:54:55

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Dates et versions

hal-02568293 , version 1 (26-05-2020)

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Guillaume Michel, Philippe Bordure, Ranjan Jha, Swaminath Venkateswaran, Damien Chablat. Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism. New Trends in Mechanism and Machine Science, 2020, ⟨10.1007/978-3-030-55061-5_21⟩. ⟨hal-02568293⟩

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