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| HAL : hal-00310393, version 1 |
| arXiv : 0808.1247 |
| DOI : 10.1177/0278364908092466 |
| Fiche détaillée |  Récupérer au format |
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| International Journal of Robotics Research 27, 7 (2008) pp. 855-866 |
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| Self-Motions of General 3-RPR Planar Parallel Robots |
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| Sébastien Briot 1Ilian Bonev 2 |
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| (07/2008) |
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| 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. |
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| 1 : | Département de Génie Mécanique et Automatique (DGMA) |
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INSA - Institut National des Sciences Appliquées |
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| 2 : | Département de génie de la production automatisée (GPA) |
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Ecole de Technologie Supérieure |
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| 3 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| planar parallel robot – kinematic geometry – singularity – self-motion. |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00310393, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00310393 | |
| oai:hal.archives-ouvertes.fr:hal-00310393 | |
| Contributeur : Damien Chablat | |
| Soumis le : Vendredi 8 Août 2008, 15:15:40 | |
| Dernière modification le : Vendredi 8 Août 2008, 19:17:30 | |
