Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters
| العنوان: | Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters |
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| المؤلفون: | Manfred L. Husty, Philippe Wenger, Thomas Stigger, Stéphane Caro, Abhilash Nayak |
| المساهمون: | 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), Universität Innsbruck [Innsbruck], University of Innsbruck, 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), Robots and Machines for Manufacturing, Society and Services (RoMas), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS) |
| المصدر: | Computer Aided Geometric Design Computer Aided Geometric Design, Elsevier, 2018, 63, pp.122-134. ⟨10.1016/j.cagd.2018.05.003⟩ |
| بيانات النشر: | HAL CCSD, 2018. |
| سنة النشر: | 2018 |
| مصطلحات موضوعية: | 3-RPS, 0209 industrial biotechnology, Quadric, parallel manipulator, operation modes, Aerospace Engineering, 02 engineering and technology, Kinematics, Topology, Equilateral triangle, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Computer Science::Robotics, 020901 industrial engineering & automation, Projective space, Linear combination, Mathematics, Parallel manipulator, Revolute joint, 021001 nanoscience & nanotechnology, Computer Graphics and Computer-Aided Design, [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph], Modeling and Simulation, Automotive Engineering, Cube, 0210 nano-technology, Study's kinematic mapping |
| الوصف: | It is known that a 3-RPS parallel manipulator with an equilateral triangle base and an equilateral triangle platform has two operation modes ( Schadlbauer et al., 2014 ) whereas a 3-RPS cube manipulator with a cube shaped base and an equilateral triangle platform has only one operation mode ( Nurahmi et al., 2014 ). This behavior is indeed a result of the difference in the architectures of these manipulators. Therefore, this paper deals with the operation mode analysis of 3-RPS parallel manipulators based on their design parameters. Study's kinematic mapping is exploited to derive the constraint equations of the manipulators under study. A linear combination of the constraint equations independent of the joint variables is compared with a general quadric in the 7-dimensional projective space P 7 to obtain some relations between the design parameters of 3-RPS manipulators with coplanar revolute joints, such that those manipulators have two operation modes. Some special cases and a numerical example are considered to emphasize the proposed approach and highlight the contributions of the paper. |
| اللغة: | English |
| تدمد: | 0167-8396 |
| DOI: | 10.1016/j.cagd.2018.05.003⟩ |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f6914952c01354607e0379cc60f333fc https://hal.archives-ouvertes.fr/hal-01860789/document |
| Rights: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....f6914952c01354607e0379cc60f333fc |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 01678396 |
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| DOI: | 10.1016/j.cagd.2018.05.003⟩ |