Extra modes of operation and self motions in manipulators designed for Schoenflies motionReport as inadecuate




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* Corresponding author 1 IRMAR - Institut de Recherche Mathématique de Rennes 2 Département de Mathématiques Ndjamena

Abstract : 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.


Keywords : mode of operation Parallel manipulators Schoenflies motion self-motion





Author: Michel Coste - Kartoue Mady Demdah -

Source: https://hal.archives-ouvertes.fr/



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