Singularity analysis and reconfiguration mode of the 3-CRS parallel manipulator
| Autor: | Nicolas Bouton, Chedli Bouzgarrou, Adrien Koessler |
|---|---|
| Přispěvatelé: | Institut Pascal (IP), SIGMA Clermont (SIGMA Clermont)-Centre National de la Recherche Scientifique (CNRS)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020]), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Parallel manipulator Control reconfiguration Cylindrical joint 02 engineering and technology Kinematics Workspace Degrees of freedom (mechanics) Topology [SPI.AUTO]Engineering Sciences [physics]/Automatic Mechanism (engineering) Computer Science::Robotics 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Robot Gravitational singularity Manipulator ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020, Paris, France. pp.10384-10390, ⟨10.1109/ICRA40945.2020.9197337⟩ ICRA |
| DOI: | 10.1109/ICRA40945.2020.9197337⟩ |
| Popis: | International audience; The 3-CRS manipulator is an original parallel mechanism having 6 degrees of freedom (DOFs) with only 3 limbs. This mechanism uses a motorized cylindrical joint per limb. This new paradigm of actuation opens research fields on new families of robots that should particularly interest the parallel robotics community. According to its dimensional synthesis, this mechanism can have remarkable kinematic properties such as a large orientation workspace or reconfiguration capabilities. In this paper, we introduce this mechanism and we study its singularities by using a geometric approach. This approach simplifies considerably singularity analysis problem by considering the relative geometric configurations of three planes defined by the distal links of the limbs. Thanks to that, a reconfiguration mode of the 3-CRS, that doubles its reachable workspace, is highlighted. This property is illustrated on a physical prototype of the robot. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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