arXiv Open Access 2009

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

Philippe Wenger Damien Chablat

Lihat Sumber

Abstrak

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.

Topik & Kata Kunci

cs.RO

Penulis (2)

Philippe Wenger

Damien Chablat

Format Sitasi

APA MLA BibTeX

Wenger, P., Chablat, D. (2009). Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators. https://arxiv.org/abs/0909.0442

Akses Cepat

Lihat di Sumber

Informasi Jurnal

Tahun Terbit: 2009
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓