A Simple Proof That Generic 3-RPR Manipulators Have Two AspectsSource: Journal of Mechanisms and Robotics:;2012:;volume( 004 ):;issue: 001::page 11008Author:Michel Coste
DOI: 10.1115/1.4005333Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Avoiding singularities in the workspace of a parallel robot is an important issue. The case of 3-RPR planar robots is an important subject of theoretical studies. We study the singularities of planar 3-RPR robots by using a new parameterization of the singular locus in a modified workspace. This approach enables us to give a simple alternative proof of a result recently proved by Husty: the complement of the singular locus in the workspace of a generic 3-RPR manipulator has two connected components (called aspects); we also give a procedure to design a singularity-free path connecting any two points in the same aspect. The parameterization introduced in this paper, due to its simple geometric properties, proves to be useful for the study of the singularities of 3-RPR robots.
keyword(s): Poles (Building) , Cylinders AND Manipulators ,
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| contributor author | Michel Coste | |
| date accessioned | 2017-05-09T00:53:28Z | |
| date available | 2017-05-09T00:53:28Z | |
| date copyright | February, 2012 | |
| date issued | 2012 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-28019#011008_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/149901 | |
| description abstract | Avoiding singularities in the workspace of a parallel robot is an important issue. The case of 3-RPR planar robots is an important subject of theoretical studies. We study the singularities of planar 3-RPR robots by using a new parameterization of the singular locus in a modified workspace. This approach enables us to give a simple alternative proof of a result recently proved by Husty: the complement of the singular locus in the workspace of a generic 3-RPR manipulator has two connected components (called aspects); we also give a procedure to design a singularity-free path connecting any two points in the same aspect. The parameterization introduced in this paper, due to its simple geometric properties, proves to be useful for the study of the singularities of 3-RPR robots. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Simple Proof That Generic 3-RPR Manipulators Have Two Aspects | |
| type | Journal Paper | |
| journal volume | 4 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4005333 | |
| journal fristpage | 11008 | |
| identifier eissn | 1942-4310 | |
| keywords | Poles (Building) | |
| keywords | Cylinders AND Manipulators | |
| tree | Journal of Mechanisms and Robotics:;2012:;volume( 004 ):;issue: 001 | |
| contenttype | Fulltext |