Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
Robotics
2012-04-26 v1
Abstract
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.
Keywords
Cite
@article{arxiv.1204.5580,
title = {Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators},
author = {Montserrat Manubens and Guillaume Moroz and Damien Chablat and Philippe Wenger and Fabrice Rouillier},
journal= {arXiv preprint arXiv:1204.5580},
year = {2012}
}
Comments
ASME Journal of Mechanisms and Robotics (2012) 1-10