arXiv:1012.2662
Cusp points in the parameter space of RPR-2PRR parallel manipulator
Cusp points in the parameter space of RPR-2PRR parallel manipulator
著者: Guillaume Inria Moroz, Damien Chablat, Philippe Wenger, Fabrice Rouiller
分類: cs.RO
原文アブストラクト
This paper investigates the existence conditions of cusp points in the design parameter space of the R\underline{P}R-2P\underline{R}R parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which can possibly increase the size of the aspect, i.e. the maximum singularity free workspace. The method used is based on the notion of discriminant varieties and Cylindrical Algebraic Decomposition, and resorts to Gr\"obner bases for the solutions of systems of equations.