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Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations
Publikationstyp
Conference Paper
Date Issued
2019
Sprache
English
Author(s)
Institut
TORE-URI
First published in
Number in series
73
Start Page
279
End Page
288
Citation
Advances in Mechanism and Machine Science (73): 279-288 (2019)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
Springer
ISBN
978-3-030-20130-2
978-3-030-20131-9
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.
DDC Class
600: Technology