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The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a Prescribed Singularity-Free Constant-Orientation Workspace

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Advances in Robot Kinematics

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Abstract

This chapter addresses the dimensional synthesis of a planar 3-DOF parallel mechanism, namely 3-RPR platform, in order to obtain a geometry for this mechanism whose constant orientation workspace contains a prescribed workspace while avoids the singularity configurations within the whole prescribed workspace. To this end, first the constraint expressions describing mathematically the desired geometry to contain the prescribed workspace and eliminate the singularities are introduced. Moreover, a multi-objective programming problem is presented in which a scaling factor is maximized to enlarge the workspace region in addition to a parameter to maximize the singularity-free workspace area. Then, the problem is relaxed to a convex form. Finally, to prevent the relaxation from becoming too loose, a branch-and-prune algorithm is applied.

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Authors and Affiliations

  1. Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

    Amirhossein Karimi & Mehdi Tale Masouleh

  2. Department of Mechanical Engineering, Laval University, Quebec City, QC, G1V 0A6, Canada

    Philippe Cardou

Authors
  1. Amirhossein Karimi
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  2. Mehdi Tale Masouleh
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  3. Philippe Cardou
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Correspondence to Amirhossein Karimi .

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Editors and Affiliations

  1. J. Stefan Institute, Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, California, USA

    Oussama Khatib

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Karimi, A., Masouleh, M.T., Cardou, P. (2014). The Dimensional Synthesis of 3-RPR Parallel Mechanisms for a Prescribed Singularity-Free Constant-Orientation Workspace. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_38

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  • DOI: https://doi.org/10.1007/978-3-319-06698-1_38

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-06697-4

  • Online ISBN: 978-3-319-06698-1

  • eBook Packages: EngineeringEngineering (R0)

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