Preliminaries
Cuspidal robots: theory and applications
Article REF: S7857 V1
Preliminaries
Cuspidal robots: theory and applications

Authors : Philippe WENGER, Damien CHABLAT

Publication date: July 10, 2021 | Lire en français

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1. Preliminaries

1.1 Robot types studied

Two main categories of robots are studied in this article. The first is serial robots, in which the end device (a tool or gripper) is connected to a fixed base via a single articulated kinematic chain (figure 1 , left). The second category, parallel robots [S 7 768], move a platform carrying the end unit via several articulated kinematic chains mounted in parallel (figure 1 , right). Most of the article (sections

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