39 citations · 115 across the 19 of their papers we have counts for
7 papers · 1 filter
On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators
Alexandre Lê, Guillaume Rance, Fabrice Rouillier +1
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such m…
An algebraic method to check the singularity-free paths for parallel robots
Ranjan Jha, Damien Chablat, Fabrice Rouillier +1
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the…
Workspace and Singularity analysis of a Delta like family robot
R. Jha, Damien Chablat, Fabrice Rouillier +1
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysi…
Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot
Damien Chablat, Ranjan Jha, Fabrice Rouillier +1
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a…
Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
Montserrat Manubens, Guillaume Moroz, Damien Chablat +2
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possibl…
On the determination of cusp points of 3-R\underline{P}R parallel manipulators
Guillaume Inria Moroz, Fabrice Rouiller, Damien Chablat +1
This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role…