Geometric modeling with small defects of over-constrained Parallel Kinematic Machine

• Published in: Mechanism and machine theory Vol. 179; p. 105120
• Main Authors: Guyon, Jean-Baptiste, Chanal, Hélène, Boudon, Benjamin, Blaysat, Benoît
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.01.2023; Elsevier
• Subjects: Engineering Sciences; Geometric defects; Geometric model; Identification; Over-constrained mechanism; Stationarity analysis; Over-constrained mechanism; Identification; Geometric model; Stationarity analysis; Geometric defects; geometric model; identification; geometric defects; over-constrained mechanism; stationarity analysis

In the case of over-constrained mechanisms, the system can only be assembled or move under strict geometric conditions. A crucial step is to identify these conditions from the geometric model. Classically, the geometric model of a robot is computed from the Denavit–Hartenberg formalism. However, whe...