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CORR
2007
Springer

Uniqueness Domains in the Workspace of Parallel Manipulators

12 years 1 months ago
Uniqueness Domains in the Workspace of Parallel Manipulators
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. 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 study focuses on the most usual case of parallel manipulators with only one inverse kinematic solution. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the forward kinematic problem without meeting a singularity, thus meaning that the aspects are not uniqueness domains. An additional set of surfaces, namely the characteristic surfaces, are characterized which divide the workspace into basic regions and yield new uniqueness domains. This study is illustrated all along the paper with a 3-RPR planar pa...
Philippe Wenger, Damien Chablat
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2007
Where CORR
Authors Philippe Wenger, Damien Chablat
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