{"title":"并联机械臂直接运动学的定义集","authors":"P. Wenger, D. Chablat","doi":"10.1109/ICAR.1997.620282","DOIUrl":null,"url":null,"abstract":"The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators by Borrel (1986) is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"32","resultStr":"{\"title\":\"Definition sets for the direct kinematics of parallel manipulators\",\"authors\":\"P. Wenger, D. Chablat\",\"doi\":\"10.1109/ICAR.1997.620282\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators by Borrel (1986) is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator.\",\"PeriodicalId\":228876,\"journal\":{\"name\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"32\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.1997.620282\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1997.620282","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Definition sets for the direct kinematics of parallel manipulators
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators by Borrel (1986) is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. Additional surfaces are characterized in the workspace which yield new uniqueness domains. An octree model of spaces is used to compute the joint space, the workspace and all other newly defined sets. This study is illustrated all along the paper with a 3-RPR planar parallel manipulator.
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