Abstract
This paper revisits the forward displacement analysis (also forward kinematics) of a class of 3-RPR planar parallel manipulator with congruent equilateral base and moving platform using an algebraic approach. Conditions on the inputs under which the manipulator has different number of solutions to the forward displacement analysis, including infinite solutions (self-motion), a double solution, and two distinct solutions are re-derived in an elegant way. In the first two cases, the parallel manipulator is in singular configurations. The geometric interpretation of these conditions on the input is presented.
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References
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Kong, X. (2009). Forward displacement analysis of a 3-RPR planar parallel manipulator revisited. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_9
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DOI: https://doi.org/10.1007/978-3-642-01947-0_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-01946-3
Online ISBN: 978-3-642-01947-0
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