COMBINATORIAL CLASSES OF PARALLEL MANIPULATORS

被引：70

作者：

FAUGERE, JC

LAZARD, D

机构：

[1] LITP, Institut Blaise Pascal, F-75252 Paris Cedex 05, Case 168, 4, place Jussieu

来源：

MECHANISM AND MACHINE THEORY | 1995年 / 30卷 / 06期

关键词：

Actuators - Constraint theory - Kinematics - Mobile robots - Robotic assembly - Terminology;

D O I：

10.1016/0094-114X(94)00069-W

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The classes of parallel manipulators are listed, which are defined by the constraint that some legs have the same fixation on the platform or on the base. For each class, the generic number of assembly configurations is given. It appears that this number never changes if the constraint of planarity is added. Grobner base computations are widely used for obtaining these results. It appears that this method is now an efficient tool for solving polynomial systems which appear in robot kinematics.

引用

页码：765 / 776

页数：12

共 17 条

[1] ALGEBRAIC METHODS FOR GEOMETRIC REASONING [J].