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.
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.
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Keywords: Biomechanics, Workspace, Boundary, Swept surface, Rank of Jacobian
@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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