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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





Autor: Michel Coste - Kartoue Mady Demdah -

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



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