対称平面3-RPRマニピュレータにおける特異曲面とカスプ
Singular surfaces and cusps in symmetric planar 3-RPR manipulators
移動三角形が固定三角形の間接等長変換となる3-RPRマニピュレータについて、順運動学を三次方程式と二次方程式に分解し、特異点やカスプ稜線を精密に記述してアセンブリモードの分類と関節空間での動作計画に応用した。
著者: Michel Coste, Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are geometrically characterized by the fact that the moving triangle is the image of the base triangle by an indirect isometry. We introduce a specific coordinate system adapted to this geometric feature and which is also well adapted to the splitting of the DKP. This allows us to obtain easily precise descriptions of the singularities and of the cusp edges. These latter second order singularities are important for nonsingular assembly mode changing. We show how to sort assembly modes and use this sorting for motion planning in the joint space.
