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Communication Dans Un Congrès Année : 2009

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators

Résumé

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced to the solution of a 3rd-degree polynomial and a quadratic equation in sequence. The singularities are calculated and plotted in the joint space. The second-order singularities (cups points), which play an important role in non-singular change of assembly-mode motions, are also analyzed.
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Dates et versions

hal-00412923 , version 1 (02-09-2009)

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Philippe Wenger, Damien Chablat. Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators. International Workshop on Computational Kinematics, May 2009, Duisburg, Germany. pp.1-8. ⟨hal-00412923⟩
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