Kinematic analysis of the 3-RPR parallel manipulator

Damien Chablat (1) , Philippe Wenger (1) , Ilian Bonev (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 GPA - Département de génie de la production automatisée

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On parallel singular configurations, the motion produce by the mobile platform can be compared to the Reuleaux straight-line mechanism.

Mots clés: Kinematics; Planar parallel manipulators; Singularity; Cardanic motion

Domaines: Robotique [cs.RO]

Damien Chablat, Philippe Wenger, Ilian Bonev. Kinematic analysis of the 3-RPR parallel manipulator. 10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.221-228. ⟨hal-00168606⟩