On the determination of cusp points of 3-RPR parallel manipulators
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Abstract: 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 in the kinematic behavior of parallel manipulators since they make possible a non-singular change of assembly mode. In previous works, the cusp points were calculated in sections of the joint space by solving a 24th-degree polynomial without any proof that this polynomial was the only one that gives all solutions. The purpose of this study is to propose a rigorous methodology to determine the cusp points of 3-Runderline{P}R manipulators and to certify that all cusp points are found. This methodology uses the notion of discriminant varieties and resorts to Gr"obner bases for the solutions of systems of equations.
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Cites work
- A new efficient algorithm for computing Gröbner bases (F₄)
- A package for solving parametric polynomial systems
- Automated Deduction in Geometry
- scientific article; zbMATH DE number 108068 (Why is no real title available?)
- scientific article; zbMATH DE number 217454 (Why is no real title available?)
- Solving parametric polynomial systems
- Solving zero-dimensional systems through the rational univariate representation
- Type synthesis of 5-DOF parallel manipulators based on screw theory
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