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Abstract: A classification of a family of 3-revolute (3R) positioning manipulators isestablished. This classification is based on the topology of their workspace.The workspace is characterized in a half-cross section by the singular curvesof the manipulator. The workspace topology is defined by the number of cuspsand nodes that appear on these singular curves. The design parameters space isshown to be partitioned into nine subspaces of distinct workspace topologies.Each separating surface is given as an explicit expression in theDH-parameters.



Author: Philippe Wenger (IRCCyN), Maher Baili (IRCCyN), Damien Chablat (IRCCyN)

Source: https://arxiv.org/







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