Abstract
In this paper we present the kinematic synthesis of a planar parallel platform assembled from 3 Revolute-Prismatic-Revolute (RPR) chains. We seek to determine the locations of the fixed and moving pivots of three of these chains such that, when assembled into a platform, they reach an arbitrary set of displacements and orientations called positions. In addition to reaching the desired set of positions, an acceptable platform design must satisfy joint limit constraints and potentially be able to move between the positions without crossing singularities. The design problem is addressed through the use of constraint manifolds, the platform’s workspace defined in terms of planar quaternion coordinates. An example shows the synthesis of a platform via this methodology.
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© 1998 Springer Science+Business Media Dordrecht
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Murray, A.P., Pierrot, F. (1998). N-Position Synthesis of Parallel Planar RPR Platforms. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_7
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DOI: https://doi.org/10.1007/978-94-015-9064-8_7
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