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| HAL : hal-00372634, version 1 |
| arXiv : 0904.0058 |
| Fiche détaillée |  Récupérer au format |
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| UPB Scientific Bulletin, Series D: Mechanical Engineering 71, 1 (2009) 3-16 |
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| Kinematics of A 3-PRP planar parallel robot |
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| Damien Chablat 1Stefan Staicu 2 |
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| (01/01/2009) |
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| Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the platform, we develop the inverse kinematics and determine the positions, velocities and accelerations of the robot. Several matrix equations offer iterative expressions and graphs for the displacements, velocities and accelerations of three prismatic actuators. |
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| 1 : | 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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| 2 : | Department of Mechanics |
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Politehnica University of Bucharest |
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| Méthodes de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| kinematics – planar parallel robot – singularity |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00372634, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00372634 | |
| oai:hal.archives-ouvertes.fr:hal-00372634 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mercredi 1 Avril 2009, 17:43:03 | |
| Dernière modification le : Mercredi 1 Avril 2009, 21:31:39 | |
