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Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2015

Extra modes of operation and self motions in manipulators designed for Schoenflies motion

Résumé

We study 4-UPU parallel manipulators performing Schoenflies motion and show that they can have extra modes of operation with 3 degrees of freedom, depending on the geometric parameters of the manipulators. We show that the transition between the different modes occurs along self-motion of the manipulator in the Schoenflies mode.
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Dates et versions

hal-01056473 , version 1 (20-08-2014)

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Michel Coste, Kartoue Mady Demdah. Extra modes of operation and self motions in manipulators designed for Schoenflies motion. Journal of Mechanisms and Robotics, 2015, 7 (4), pp.41020-41020. ⟨10.1115/1.4029501⟩. ⟨hal-01056473⟩
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