Self-Motions of General 3-RPR Planar Parallel Robots - Archive ouverte HAL
Article Dans Une Revue The International Journal of Robotics Research Année : 2008

Self-Motions of General 3-RPR Planar Parallel Robots

Résumé

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behaviour at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented.
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Dates et versions

hal-00310393 , version 1 (08-08-2008)

Identifiants

Citer

Sébastien Briot, Ilian Bonev, Damien Chablat, Philippe Wenger, Vigen Arakelian. Self-Motions of General 3-RPR Planar Parallel Robots. The International Journal of Robotics Research, 2008, 27 (7), pp. 855-866. ⟨10.1177/0278364908092466⟩. ⟨hal-00310393⟩
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