Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
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.
| Original language | English |
|---|---|
| Title of host publication | Advances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science |
| Editors | Tadeusz Uhl |
| Number of pages | 10 |
| Place of Publication | Cham |
| Publisher | Springer Schweiz |
| Publication date | 06.2019 |
| Pages | 279-288 |
| ISBN (Print) | 978-3-030-20130-2 |
| ISBN (Electronic) | 978-3-030-20131-9 |
| DOIs | |
| Publication status | Published - 06.2019 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:
© 2019, Springer Nature Switzerland AG.
- 3-RPR parallel mechanism, assembly modes, direct kinematics problem, linear actuators’ orientations, parallel kinematics
- Engineering