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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

Standard

Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations. / Schulz, Stefan; Seibel, Arthur; Schlattmann, Josef.

Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science . ed. / Tadeusz Uhl. Cham : Springer Schweiz, 2019. p. 279-288 (Mechanisms and Machine Science; Vol. 73).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Schulz, S, Seibel, A & Schlattmann, J 2019, Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations. in T Uhl (ed.), Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science . Mechanisms and Machine Science, vol. 73, Springer Schweiz, Cham, pp. 279-288. https://doi.org/10.1007/978-3-030-20131-9_28

APA

Schulz, S., Seibel, A., & Schlattmann, J. (2019). Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations. In T. Uhl (Ed.), Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science (pp. 279-288). (Mechanisms and Machine Science; Vol. 73). Springer Schweiz. https://doi.org/10.1007/978-3-030-20131-9_28

Vancouver

Schulz S, Seibel A, Schlattmann J. Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations. In Uhl T, editor, Advances in Mechanism and Machine Science: Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science . Cham: Springer Schweiz. 2019. p. 279-288. (Mechanisms and Machine Science). doi: 10.1007/978-3-030-20131-9_28

Bibtex

@inbook{ea0fa574f3bf476e8fa4bfa7955c345a,
title = "Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators{\textquoteright} Orientations",
abstract = "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{\textquoteright} orientations in-stead of their lengths. The linear actuators{\textquoteright} 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{\textquoteright}s orientation, only one assembly mode remains.",
keywords = "3-RPR parallel mechanism, assembly modes, direct kinematics problem, linear actuators{\textquoteright} orientations, parallel kinematics, Engineering",
author = "Stefan Schulz and Arthur Seibel and Josef Schlattmann",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",
year = "2019",
month = jun,
doi = "10.1007/978-3-030-20131-9_28",
language = "English",
isbn = "978-3-030-20130-2",
series = "Mechanisms and Machine Science",
publisher = "Springer Schweiz",
pages = "279--288",
editor = "Tadeusz Uhl",
booktitle = "Advances in Mechanism and Machine Science",
address = "Switzerland",

}

RIS

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 -

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Research output: Journal contributions › Journal articles › Research

DOI