The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2004

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator

Résumé

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but also multiple direct kinematic solutions. This property produces more complicated kinematic models but allows more flexibility in trajectory planning. To take into account this property, the notion of aspects, i.e. the maximal singularity-free domains, was introduced, based on the notion of working modes, which makes it possible to separate the inverse kinematic solutions. The aim of this paper is to show that a non-singular assembly-mode changing trajectory exist for a symmetrical planar parallel manipulator, with equilateral base and platform triangle.
Fichier principal
Vignette du fichier
Chablat_Wenger_31_03_2004.pdf (585.71 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00144971 , version 1 (07-05-2007)

Identifiants

Citer

Damien Chablat, Philippe Wenger. The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator. 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (Romansy), 2004, Montréal, Canada. pp.1-7. ⟨hal-00144971⟩
149 Consultations
67 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More