Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (1)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Briot, S.
Right arrow Articles by Wenger, P.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Self-Motions of General 3-RPR Planar Parallel Robots

Sébastien Briot

Département de Génie Mécanique et Automatique, Institut National des Sciences Appliquées (INSA), Rennes, France, sebastien.briot{at}ens.insa-rennes.fr

Vigen Arakelian

Département de Génie Mécanique et Automatique, Institut National des Sciences Appliquées (INSA), Rennes, France

Ilian A. Bonev

Department of Automated Production Engineering, École de Technologie Supérieure (ÉTS), Montréal, Canada

Damien Chablat

Institut de Recherche en Communications et Cybernétique de Nantes 1, rue la Noë - BP 92101 44321, Nantes Cedex 3, France

Philippe Wenger

Institut de Recherche en Communications et Cybernétique de Nantes 1, rue la Noë - BP 92101 44321, Nantes Cedex 3, France

We study the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the expressions for the singularity loci of 3-RPR planar parallel robots are determined. Then, the global behavior at all singularities is geometrically described by studying the degeneracy of the direct kinematic model. Special cases of self-motions are then examined and the degree of freedom gained in such special configurations is kinematically interpreted. Finally, a practical example is discussed and experimental validations performed on an actual robot prototype are presented.

Key Words: planar parallel robot • kinematic geometry • singularity • self-motion

The International Journal of Robotics Research, Vol. 27, No. 7, 855-866 (2008)
DOI: 10.1177/0278364908092466
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?