| contributor author | Montserrat Manubens | |
| contributor author | Guillaume Moroz | |
| contributor author | Damien Chablat | |
| contributor author | Fabrice Rouillier | |
| contributor author | Philippe Wenger | |
| date accessioned | 2017-05-09T00:53:21Z | |
| date available | 2017-05-09T00:53:21Z | |
| date copyright | November, 2012 | |
| date issued | 2012 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-926067#041003_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/149849 | |
| description abstract | This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible nonsingular assembly-mode changing motion, which increases the maximum singularity-free workspace. An accurate algorithm for the determination is proposed amending some imprecisions done by previous existing algorithms. This is combined with methods of cylindric algebraic decomposition, Gröbner bases, and discriminant varieties in order to partition the parameter space into cells with constant number of cusp points. These algorithms will allow us to classify a family of degenerate 3-RP R manipulators. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Cusp Points in the Parameter Space of Degenerate 3-RP R Planar Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 4 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4006921 | |
| journal fristpage | 41003 | |
| identifier eissn | 1942-4310 | |
| keywords | Interior walls | |
| keywords | Algorithms | |
| keywords | Computer-aided design | |
| keywords | Manipulators | |
| keywords | Polynomials | |
| keywords | Computation AND Equations | |
| tree | Journal of Mechanisms and Robotics:;2012:;volume( 004 ):;issue: 004 | |
| contenttype | Fulltext | |
