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Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators

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Computational Kinematics

Abstract

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced to the solution of a 3rd-degree polynomial and a quadratic equation in sequence. The singularities are calculated and plotted in the joint space. The second-order singularities (cups points), which play an important role in non-singular change of assembly-mode motions, are also analyzed.

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Authors
  1. Philippe Wenger
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  2. Damien Chablat
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Editors and Affiliations

  1. Lehrstuhl für Mechanik und Robotik, Universität Duisburg-Essen, Lotharstr. 1, 47057, Duisburg, Germany

    Andrés Kecskeméthy

  2. Chair of Mechanics and Robotics, University Duisburg-Essen, Lotharstraße 1, D-47057, Duisburg, Germany

    Andreas Müller

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© 2009 Springer-Verlag Berlin Heidelberg

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Wenger, P., Chablat, D. (2009). Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_6

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  • DOI: https://doi.org/10.1007/978-3-642-01947-0_6

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-01946-3

  • Online ISBN: 978-3-642-01947-0

  • eBook Packages: EngineeringEngineering (R0)

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