Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism
| Autor: | Ranjan Jha, Damien Chablat, Swaminath Venkateswaran, Philippe Bordure, Guillaume Michel |
|---|---|
| Přispěvatelé: | Centre hospitalier universitaire de Nantes (CHU Nantes), Central Scientific Instruments Organisation (CSIR), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Robotique Et Vivant (ReV), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), École Centrale de Nantes (ECN), Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science aspect 02 engineering and technology Kinematics Workspace cusp point Topology Base (topology) Space (mathematics) Spherical parallel robot singularity [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics Mechanism (engineering) 020303 mechanical engineering & transports 020901 industrial engineering & automation Singularity 0203 mechanical engineering Trajectory [MATH.MATH-AG]Mathematics [math]/Algebraic Geometry [math.AG] Joint (geology) |
| Zdroj: | New Trends in Mechanism and Machine Science New Trends in Mechanism and Machine Science, 2020, ⟨10.1007/978-3-030-55061-5_21⟩ New Trends in Mechanism and Machine Science ISBN: 9783030550608 |
| DOI: | 10.1007/978-3-030-55061-5_21⟩ |
| Popis: | European Conference on Mechanism Science (EUCOMES'2022), Sep 2022, Cluj-Napoca, Romania; International audience; This paper deals with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an endoscope. This mechanism is composed of the three legs (2USP-U) to connect the base to a moving platform. As the manipulator can get up to six solutions to the direct kinematic problem (DKP) in four aspects, non-singular assembly modes changing trajectories may exist. The aim of the paper is to check whether a regular workspace centred on home pose can be defined in such a way that no such trajectory exists in this workspace. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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