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

Publikationstyp
Book part
Publikationsdatum
2019
Sprache
English
Author
Schulz, Stefan 
Seibel, Arthur 
Schlattmann, Josef 
Institut
Laser- und Anlagensystemtechnik G-2 
TORE-URI
http://hdl.handle.net/11420/2855
Enthalten in
Mechanisms and machine science 
Start Page
279
End Page
288
Citation
Mechanisms and Machine Science (73): 279-288 (2019)
Publisher DOI
10.1007/978-3-030-20131-9_28
Scopus ID
2-s2.0-85067583701
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.