3Rマニピュレータ族の運動学的解析：特異曲線とカスプによるワークスペース位相の分類
Kinematic Analysis of a Family of 3R Manipulators
3自由度回転関節マニピュレータのワークスペース位相を特異曲線上に現れるカスプ数で分類し、DHパラメータで表される設計パラメータ空間を5領域に分割する分離曲面の陽な式を導出した。応用として直交型3Rマニピュレータが特異点を経ずに姿勢を変えられるカスピダル条件をDHパラメータの陽な式で与えた。
著者: Maher Baili, Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps that appear on these singular curves. The design parameters space is shown to be divided into five domains where all manipulators have the same number of cusps. Each separating surface is given as an explicit expression in the DH-parameters. As an application of this work, we provide a necessary and sufficient condition for a 3R orthogonal manipulator to be cuspidal, i.e. to change posture without meeting a singularity. This condition is set as an explicit expression in the DH parameters.
