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pro vyhledávání: '"Wenger, Philippe"'
Autor:
Wenger, Philippe, Chablat, Damien
Publikováno v:
Journal of Mechanisms and Robotics, American Society of Mechanical Engineers, 2022, pp.1-37
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in fact, industri
Externí odkaz:
http://arxiv.org/abs/2210.05204
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to six-degree-of-freedom ro
Externí odkaz:
http://arxiv.org/abs/2203.04578
Publikováno v:
In Mechanism and Machine Theory 15 September 2024 200
Autor:
Salunkhe, Durgesh Haribhau, Spartalis, Christoforos, Capco, Jose, Chablat, Damien, Wenger, Philippe
Publikováno v:
Mechanism and Machine Theory, Elsevier, 2022, 171, pp.104729
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the workspace of 3R serial robots. The existence of a cusp point was prove
Externí odkaz:
http://arxiv.org/abs/2202.08686
Publikováno v:
In Mechanism and Machine Theory May 2024 195
Akademický článek
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Akademický článek
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Autor:
Wenger, Philippe, Chablat, D.
Publikováno v:
Robotica, Cambridge University Press, 2018, pp.1 - 11
Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They are interesting alternative designs for some applications, such as modelling musculo-skeleton systems. Tensegrity mechanisms are more difficult to analyze tha
Externí odkaz:
http://arxiv.org/abs/1808.08709
Autor:
Wenger, Philippe
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinat
Externí odkaz:
http://arxiv.org/abs/1610.04080
Publikováno v:
15th International Symposium on Advances in Robot Kinematics, Jun 2016, Grasse, France. 2016
This paper investigates a situation pointed out in a recent paper, in which a non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by encircling a point of multiplicity 4. It is shown that this situation is, in
Externí odkaz:
http://arxiv.org/abs/1604.08742