Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science . Hrsg. / Tadeusz Uhl. Cham: Springer Schweiz, 2019. S. 279-288 (Mechanisms and Machine Science; Band 73).
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations
AU - Schulz, Stefan
AU - Seibel, Arthur
AU - Schlattmann, Josef
N1 - Publisher Copyright: © 2019, Springer Nature Switzerland AG.
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
KW - 3-RPR parallel mechanism
KW - assembly modes
KW - direct kinematics problem
KW - linear actuators’ orientations
KW - parallel kinematics
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85067583701&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-20131-9_28
DO - 10.1007/978-3-030-20131-9_28
M3 - Article in conference proceedings
AN - SCOPUS:85067583701
SN - 978-3-030-20130-2
T3 - Mechanisms and Machine Science
SP - 279
EP - 288
BT - Advances in Mechanism and Machine Science
A2 - Uhl, Tadeusz
PB - Springer Schweiz
CY - Cham
ER -