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

被引：12
|
作者：
Wenger, Philippe
Chablat, Damien
机构：
来源：
COMPUTATIONAL KINEMATICS, PROCEEDINGS | 2009年
关键词：
Forward kinematics; Singularity; Planar 3-RPR parallel manipulator; Analytic manipulator; Cusp point;
D O I：
10.1007/978-3-642-01947-0_6
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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 3(rd)-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.
引用
收藏
页码：43 / 50
页数：8
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