Classification of one family of 3R positioning Manipulators

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dc.creatorBaili, Maher
dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2007-05-09
dc.date.accessioned2026-07-07T08:00:26Z
dc.date.available2026-07-07T08:00:26Z
dc.descriptionThe aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic manipulators. It was found three subsets of manipulators with 0, 2 or 4 cusp points and one homotopy class for generic quaternary manipulators. This classification allows us to define the design parameters for which the manipulator is cuspidal or not, i.e., for which the manipulator can or cannot change posture without meeting a singularity, respectively.
dc.identifierhttps://arxiv.org/abs/0705.1344
dc.identifierhttp://arxiv.org/abs/0705.1344
dc.identifierThe 11Th International Conference on Advanced Robotics (2003) 1-6
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/128666
dc.subjectRobotics
dc.titleClassification of one family of 3R positioning Manipulators
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