Characterization of Parallel Manipulator Available Wrench Set Facets

Marc Gouttefarde 1 Sébastien Krut 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The available wrench set is the set of wrenches that can be generated at the platform of a parallel manipulator. In a given configuration, this set is known to be a convex polytope and, recently, it has been pointed out that it is in fact a particular type of convex polytope called a zonotope. This paper deals with the case of parallel manipulators having as many or more actuators than degrees of freedom and discusses a characterization of the facets of the available wrench set.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00533860
Contributor : Marc Gouttefarde <>
Submitted on : Monday, November 8, 2010 - 2:23:19 PM
Last modification on : Monday, December 17, 2018 - 10:50:04 AM

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Marc Gouttefarde, Sébastien Krut. Characterization of Parallel Manipulator Available Wrench Set Facets. Advances in Robots Kinematics: Motion in Man and Machine, Jun 2010, Piran-Portorož, Slovenia. pp.475-482. ⟨lirmm-00533860⟩

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