contributor author | Wenger, Philippe | |
contributor author | Chablat, Damien | |
date accessioned | 2023-11-29T19:10:52Z | |
date available | 2023-11-29T19:10:52Z | |
date copyright | 11/15/2022 12:00:00 AM | |
date issued | 11/15/2022 12:00:00 AM | |
date issued | 2022-11-15 | |
identifier issn | 1942-4302 | |
identifier other | jmr_15_4_040801.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4294636 | |
description 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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | A Review of Cuspidal Serial and Parallel Manipulators | |
type | Journal Paper | |
journal volume | 15 | |
journal issue | 4 | |
journal title | Journal of Mechanisms and Robotics | |
identifier doi | 10.1115/1.4055677 | |
journal fristpage | 40801-1 | |
journal lastpage | 40801-24 | |
page | 24 | |
tree | Journal of Mechanisms and Robotics:;2022:;volume( 015 ):;issue: 004 | |
contenttype | Fulltext | |