[Geometrical characterisation of the boundary of the polyarticulated system workspace in the plane]
We model a planar polyarticulated system by points defining the joints and a last point linked to the last solid. The surface swept by the point has its boundary defined by 3 kinds of particular configurations. These curves can be geometrically determined.
On modélise un système polyarticulé plan par les points définissant les articulations et un dernier point lié au dernier corps. L'espace balayé par le point a sa frontière définie par 3 types de courbes correspondants à des configurations singulières. Ces courbes peuvent être déterminées géométriquement.
Accepted:
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Keywords: Biomechanics, Workspace, Boundary, Swept surface, Rank of Jacobian
Jérôme Bastien 1, 2; Pierre Legreneur 2; Karine Monteil 2
@article{CRMECA_2007__335_3_181_0,
author = {J\'er\^ome Bastien and Pierre Legreneur and Karine Monteil},
title = {Caract\'erisation g\'eom\'etrique de la fronti\`ere de l'espace de travail d'un syst\`eme polyarticul\'e dans le plan},
journal = {Comptes Rendus. M\'ecanique},
pages = {181--186},
publisher = {Elsevier},
volume = {335},
number = {3},
year = {2007},
doi = {10.1016/j.crme.2007.03.001},
language = {fr},
}
TY - JOUR AU - Jérôme Bastien AU - Pierre Legreneur AU - Karine Monteil TI - Caractérisation géométrique de la frontière de l'espace de travail d'un système polyarticulé dans le plan JO - Comptes Rendus. Mécanique PY - 2007 SP - 181 EP - 186 VL - 335 IS - 3 PB - Elsevier DO - 10.1016/j.crme.2007.03.001 LA - fr ID - CRMECA_2007__335_3_181_0 ER -
%0 Journal Article %A Jérôme Bastien %A Pierre Legreneur %A Karine Monteil %T Caractérisation géométrique de la frontière de l'espace de travail d'un système polyarticulé dans le plan %J Comptes Rendus. Mécanique %D 2007 %P 181-186 %V 335 %N 3 %I Elsevier %R 10.1016/j.crme.2007.03.001 %G fr %F CRMECA_2007__335_3_181_0
Jérôme Bastien; Pierre Legreneur; Karine Monteil. Caractérisation géométrique de la frontière de l'espace de travail d'un système polyarticulé dans le plan. Comptes Rendus. Mécanique, Volume 335 (2007) no. 3, pp. 181-186. doi : 10.1016/j.crme.2007.03.001. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.1016/j.crme.2007.03.001/
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