Self motions of a special 3-(R)under-barPR planar parallel robot

被引：18

作者：

Chablat, Damien ^{[1
]}

Wenger, Phlippe ^{[1
]}

Bonev, Ilian A. ^{[2
]}

机构：

[1] Inst Rech Commun & Cybernet Nantes, 1,Rue Noe, F-44321 Nantes, France

[2] Ecole technol superieure, Montreal, PQ, Canada

来源：

ADVANCES IN ROBOT KINEMATICS: MECHANISMS AND MOTION | 2006年

关键词：

kinematic geometry; planar parallel mechanism; singularity; self motion;

D O I：

10.1007/978-1-4020-4941-5_24

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the kinematic geometry of a 3-RPR planar parallel robot with actuated base joints and congruent equilateral base and mobile platform. The singularity loci are first determined. Then the global behavior at all singularities is geometrically described by studying the degeneracies of the direct kinematic model. This study is made easier by the fact that one of the two direct kinematic solutions is trivial and singular. It is shown that this parallel robot has Cardanic self motions.

引用

页码：221 / +

页数：2

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