Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux

Details Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux

2007-07-24

arxiv.org/abs/0707.3552v1

Dans Congr\`es international Conception et Mod\'elisation des Syst\`emes M\'ecaniques - Congr\`es international Conception et

Computer Science

Robotics

Scientific paper

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. Based on this classification, we evaluate theses manipulators by the condition number related to the joint space and the proportion of the region with four inverse kinematic solutions compared to a sphere containing all the workspace. This second performance number is in relation with the workspace. We determine finally le topology of workspace to which belong manipulators having the best performance number values.

Affiliated with

Also associated with

No associations

Rating

Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux 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 Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-440380