Cusp Points in the Parameter Space of RPR-2PRR Parallel Manipulators

被引：4
|
作者：
Moroz, G. [1 ,2 ]
Chablatl, D. [1 ]
Wenger, P. [1 ]
Rouiller, F. [2 ]
机构：
[1] Inst Rercheche Commun & Cybernet Nantes, Nantes, France
[2] Lab Informat Paris, Paris, France
来源：
NEW TRENDS IN MECHANISM SCIENCE: ANALYSIS AND DESIGN | 2010年 / 5卷
关键词：
kinematics; singularities; cusp; parallel manipulator; symbolic computation;
D O I：
10.1007/978-90-481-9689-0_4
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper investigates the existence conditions of cusp points in the design parameter space of the RPR-2PRR parallel manipulators. Cusp points make possible non-singular assembly mode changing motion, which can possibly increase the size of the aspect, i.e. the maximum singularity free workspace. The method used is based on the notion of discriminant varieties and Cylindrical Algebraic Decomposition, and resorts to Grinner bases for the solutions of systems of equations.
引用
收藏
页码：29 / 37
页数：9
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