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    A Review of Cuspidal Serial and Parallel Manipulators

    Source: Journal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 004::page 40801-1
    Author:
    Wenger, Philippe
    ,
    Chablat, Damien
    DOI: 10.1115/1.4055677
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in fact, industrial robots are the exceptions. Some robots appeared recently in the industrial market can be shown to be cuspidal, but, surprisingly, almost nobody knows it and robot users meet difficulties in planning trajectories with these robots. This article proposes a review on the fundamental and application aspects of cuspidal robots. It addresses the important issues raised by these robots for the design and planning of trajectories. The identification of all cuspidal robots is still an open issue. This article recalls in details the case of serial robots with three joints, but it also addresses robots with more complex architectures such as 6-revolute-jointed robot and parallel robots. We hope that this article will help disseminate more wide knowledge on cuspidal robots.
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      A Review of Cuspidal Serial and Parallel Manipulators

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4294636
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    contributor authorWenger, Philippe
    contributor authorChablat, Damien
    date accessioned2023-11-29T19:10:52Z
    date available2023-11-29T19:10:52Z
    date copyright11/15/2022 12:00:00 AM
    date issued11/15/2022 12:00:00 AM
    date issued2022-11-15
    identifier issn1942-4302
    identifier otherjmr_15_4_040801.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4294636
    description abstractCuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in fact, industrial robots are the exceptions. Some robots appeared recently in the industrial market can be shown to be cuspidal, but, surprisingly, almost nobody knows it and robot users meet difficulties in planning trajectories with these robots. This article proposes a review on the fundamental and application aspects of cuspidal robots. It addresses the important issues raised by these robots for the design and planning of trajectories. The identification of all cuspidal robots is still an open issue. This article recalls in details the case of serial robots with three joints, but it also addresses robots with more complex architectures such as 6-revolute-jointed robot and parallel robots. We hope that this article will help disseminate more wide knowledge on cuspidal robots.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Review of Cuspidal Serial and Parallel Manipulators
    typeJournal Paper
    journal volume15
    journal issue4
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4055677
    journal fristpage40801-1
    journal lastpage40801-24
    page24
    treeJournal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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