On the Resolution of Forward Kinematic Problem Using CAD Graphical Techniques: Application on Planar Parallel Robotic Manipulators
The existence of singularity-free trajectories joining different assembly modes of a parallel robotic manipulator is a crucial property that permits to have a large effective workspace. The investigation of such a characteristic requires considering the forward kinematics problem. In this paper, an original method for forward kinematics resolution and singularity-free trajectory planning between different assembly modes is presented. The proposed method is based on a pure geometric approach and exploits the CAD environments utilities for geometric entity manipulations such as Boolean operations. The developments presented herein are mainly performed on 3-RPR planar parallel robot (PPR) and can be extended to several 3-DOF PPRs providing some adaptations.
KeywordsForward kinematic problem (FKP) Computer-aided design (CAD) techniques Planar parallel robot (PPRs) Singularity-free trajectory planning Coupler curves NURBS surfaces
This work is supported financially by the Excellence Laboratory “LabEX” IMobS3 of Clermont-Ferrand, and the Research National Agency.
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