Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

Details Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

2012-04-25

arxiv.org/abs/1204.5580v1

Computer Science

Robotics

ASME Journal of Mechanisms and Robotics (2012) 1-10

Scientific paper

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, Gr\"obner 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.

Affiliated with

Also associated with

No associations

Rating

Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-137552