Self-Motions of General 3-RPR Planar Parallel Robots

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dc.creatorBriot, Sébastien
dc.creatorBonev, Ilian
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.creatorArakelian, Vigen
dc.date2008-08-08
dc.date.accessioned2026-07-07T09:55:43Z
dc.date.available2026-07-07T09:55:43Z
dc.descriptionThis paper studies 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 behaviour 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.
dc.identifierhttps://arxiv.org/abs/0808.1247
dc.identifierhttp://arxiv.org/abs/0808.1247
dc.identifierInternational Journal of Robotics Research 27, 7 (2008) pp. 855-866
dc.identifierdoi:10.1177/0278364908092466
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/166727
dc.subjectRobotics
dc.titleSelf-Motions of General 3-RPR Planar Parallel Robots
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