Classification of one family of 3R positioning manipulators

被引：0

作者：

Baili, M ^{[1
]}

Wenger, P ^{[1
]}

Chablat, D ^{[1
]}

机构：

[1] CNRS, UMR 6597, Inst Rech Commun & Cybernet Nantes, F-44312 Nantes 03, France

来源：

PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年

关键词：

cuspidal manipulator; joint space; workspace; singularity; aspect; homotopy class; genericity;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The aim is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic manipulators. We found three subsets of manipulators with 0, 2 or 4 cusp points and two homotopy classes for generic quaternary manipulators. This classification allows us to define the design parameters for which the manipulator is cuspidal or not, i.e., for which the manipulator can or cannot change posture without meeting a singularity, respectively.

引用

页码：1849 / 1854

页数：6

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