RESEARCH PAPERS: Mechanisms and Robotics Papers

Classification of 3R Positioning Manipulators

[+] Author and Article Information
P. Wenger

Institut de recherche en Cybernétique de Nantes U.M.R. CNRS 6597, 1 rue la Noë, BP 92101 44321 NANTES-FRANCE

J. Mech. Des 120(2), 327-332 (Jun 01, 1998) (6 pages) doi:10.1115/1.2826976 History: Received November 01, 1996; Online December 11, 2007


In this paper, the complete categorization of all generic 3-revolute jointed (3R) positioning manipulators is established using a homotopy based classification scheme. It is shown that there exists exactly eight subsets of homotopic generic manipulators which have similar global kinematic properties. The classification of generic manipulators serves as an efficient tool for the categorization of cuspidal and non cuspidal manipulators, i.e., manipulators which can or cannot change posture without meeting a singularity, respectively. As a result of this classification, it appears that, in contrast with common belief most 3R manipulators are cuspidal.

Copyright © 1998 by The American Society of Mechanical Engineers
Topics: Manipulators
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