1. Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism
- Author
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Ranjan Jha, Damien Chablat, Swaminath Venkateswaran, Philippe Bordure, Guillaume Michel, Centre hospitalier universitaire de Nantes (CHU Nantes), Central Scientific Instruments Organisation (CSIR), Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Robotique Et Vivant (ReV), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), École Centrale de Nantes (ECN), and Centre National de la Recherche Scientifique (CNRS)
- Subjects
0209 industrial biotechnology ,Computer science ,aspect ,02 engineering and technology ,Kinematics ,Workspace ,cusp point ,Topology ,Base (topology) ,Space (mathematics) ,Spherical parallel robot ,singularity ,[SPI.AUTO]Engineering Sciences [physics]/Automatic ,Computer Science::Robotics ,Mechanism (engineering) ,020303 mechanical engineering & transports ,020901 industrial engineering & automation ,Singularity ,0203 mechanical engineering ,Trajectory ,[MATH.MATH-AG]Mathematics [math]/Algebraic Geometry [math.AG] ,Joint (geology) - Abstract
European Conference on Mechanism Science (EUCOMES'2022), Sep 2022, Cluj-Napoca, Romania; International audience; This paper deals with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an endoscope. This mechanism is composed of the three legs (2USP-U) to connect the base to a moving platform. As the manipulator can get up to six solutions to the direct kinematic problem (DKP) in four aspects, non-singular assembly modes changing trajectories may exist. The aim of the paper is to check whether a regular workspace centred on home pose can be defined in such a way that no such trajectory exists in this workspace.
- Published
- 2020