 |
|
|
|
| HAL: hal-00310393, version 1 |
| arXiv: 0808.1247 |
| DOI: 10.1177/0278364908092466 |
| Detailed view |  Export this paper |
|
|
| International Journal of Robotics Research 27, 7 (2008) pp. 855-866 |
|
|
|
|
| Self-Motions of General 3-RPR Planar Parallel Robots |
|
|
| Sébastien Briot 1Ilian Bonev 2 |
|
|
| (2008-07) |
|
|
|
| This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented. |
|
|
|
|
|
|
|
|
|
|
|
| 1: | Département de Génie Mécanique et Automatique (DGMA) |
|
|
|
INSA - Institut National des Sciences Appliquées |
|
|
| 2: | Département de génie de la production automatisée (GPA) |
|
|
|
Ecole de Technologie Supérieure |
|
|
| 3: | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
|
|
|
CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
|
|
|
|
|
|
|
|
|
| Méthode de conception en mécanique |
|
|
|
|
| Subject | : | Computer Science/Robotics |
|
|
| planar parallel robot – kinematic geometry – singularity – self-motion. |
|
|
|
| Attached file list to this document: | |||||
|
|||||
|
|
|
| hal-00310393, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00310393 | |
| oai:hal.archives-ouvertes.fr:hal-00310393 | |
| From: Damien Chablat | |
| Submitted on: Friday, 8 August 2008 15:15:40 | |
| Updated on: Friday, 8 August 2008 19:17:30 | |
