Kinematics of A 3-PRP planar parallel robot

Damien Chablat (1) , Stefan Staicu (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 Department of Mechanics

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.

Mots clés: kinematics; planar parallel robot; singularity

Domaines: Robotique [cs.RO]

Damien Chablat, Stefan Staicu. Kinematics of A 3-PRP planar parallel robot. Scientific Bulletin - "Politehnica" University of Bucharest. Series D, Mechanical engineering, 2009, 71 (1), pp.3-16. ⟨hal-00372634⟩