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Title:
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Cusp points in the parameter space of degenerate 3-RPR planar parallel manipulators
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Author:
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Manubens Ferriol, Montserrat; Moroz, Guillaume; Chablat, Damien; Wenger, Philippe; Rouillier, Fabrice
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Other authors:
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Universitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta |
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Abstract:
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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 non-singular 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-RPR manipulators. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Matemàtiques i estadística::Geometria::Geometria computacional
-Symbolic computation
-Cusp
-Cylindric algebraic decomposition
-Degenerate 3-RPR
-Discriminant variety
-Kinematics
-Parallel manipulator
-Singularities
-Symbolic computation
-Computació simbòlica |
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Rights:
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Document type:
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Article - Draft
Article |
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Published by:
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ASME PRESS
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