Kinematic analysis of the 3-RPR parallel manipulator

Details Kinematic analysis of the 3-RPR parallel manipulator Kinematic analysis of the 3-RPR parallel manipulator

2007-08-29

arxiv.org/abs/0708.3920v1

Dans Advances in Robot Kinematics - 10th International Symposium on Advances in Robot Kinematics, Ljubljana : Slov\'enie (2006

Computer Science

Robotics

Scientific paper

The aim of this paper is the kinematic study of a 3-RPR planar parallel
manipulator where the three fixed revolute joints are actuated. The direct and
inverse kinematic problem as well as the singular configuration is
characterized. On parallel singular configurations, the motion produce by the
mobile platform can be compared to the Reuleaux straight-line mechanism.

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