Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

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In this paper, we show that the number of possible assembly modes for the general planar 3-RPR parallel mechanism, where P denotes active prismatic joints and R denotes passive revolute joints, can be significantly reduced when using the linear actuators’ orientations in-stead of their lengths. The linear actuators’ lengths lead to a univariate polynomial which can have up to six different solutions and thus provides up to six assembly modes. By measuring the orientations of the linear actuators, provided, e. g., by inertial measurement units, only two assembly modes exist. Furthermore, by using two orientations of the linear actuators in addition to the moveable manipulator platform’s orientation, only one assembly mode remains.

OriginalspracheEnglisch
TitelAdvances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science
HerausgeberTadeusz Uhl
Anzahl der Seiten10
ErscheinungsortCham
VerlagSpringer Schweiz
Erscheinungsdatum06.2019
Seiten279-288
ISBN (Print)978-3-030-20130-2
ISBN (elektronisch)978-3-030-20131-9
DOIs
PublikationsstatusErschienen - 06.2019
Extern publiziertJa

Bibliographische Notiz

Publisher Copyright:
© 2019, Springer Nature Switzerland AG.

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