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

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

2009-09-02

arxiv.org/abs/0909.0442v1

International Workshop on Computational Kinematics, Duisburg : Germany (2009)

Computer Science

Robotics

Scientific paper

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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