7. To find out more...
In this section, an overview of the work that can be used to calculate the workspace of RPCs, and to obtain their dynamic model, is given in the form of a state of the art.
7.1 Workspace calculation
In RPCs, as in all RCs, the geometry of the manipulator is not sufficient to describe the configuration of the robot, which is also defined by the elastic deformation of its bodies. Thus, the evaluation of the static workspace of an RPC becomes complex, since MGSD and MGSI do not admit analytical solutions, in general. As seen in the previous section, the workspace of an RPC can be limited by several phenomena: the robot can admit singular configurations that define the limits of the workspace (type 1), but also stability limits, characterized by type 2 singularities....
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Conclusion
Bibliography
- (1) - BRUYAS (A.), GEISKOPF (F.), RENAUD (P.) - Toward unibody robotic structures with integrated functions using multimaterial additive manufacturing: Case study of an MRI-compatible interventional device. - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p. 1744–1750, September 2015.
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