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SMARP: A Tool for Parallel Manipulators Design and Simulation

[+] Author Affiliations
Samir Lahouar, Said Zeghloul

LMS Université de Poitiers, Futuroscope, France

Lotfi Romdhane

LGM Ecole Nationale d’Ingénieurs de Monastir, Monastir, Tunisia

Paper No. DETC2006-99338, pp. 1169-1175; 7 pages
doi:10.1115/DETC2006-99338
From:
  • ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B
  • Philadelphia, Pennsylvania, USA, September 10–13, 2006
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4256-8 | eISBN: 0-7918-3784-X
  • Copyright © 2006 by ASME

abstract

We present a new tool used to design and simulate parallel robots in their environments. Explicit kinematic equations, for a given architecture, are generated automatically. The user has the choice of specifying, among all the variables, the input and the output of the mechanism. We also present a method to generate a path of the end effector and to detect singularities along the generated path.

Copyright © 2006 by ASME

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