Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators

Journal of Mechanical Design

Volumn 129, Issue 12, 2007, Pages 1265-1268

  Wenger, P ^a   Chablat, D ^a   Zein, M ^a  

^a INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

[No Author keywords available]

Indexed keywords

INDUSTRIAL APPLICATIONS; KINEMATICS; POLYNOMIALS; ROBOTIC ASSEMBLY;

FORWARD KINEMATICS; PARALLEL MANIPULATOR;

MANIPULATORS;

EID: 38849197847     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2779893     Document Type: Article

References (10)

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3. Gosselin, C., Sefrioui, J., and Richard, M. J., 1992, "Solutions polynomiales au probleme de la cinématique des manipulateurs parallèles plans à trois degrés de liberté," Mech. Mach. Theory, 27, pp. 107-119.
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9. Kong, X., and Gosselin, C. M., 2000, "Determination of the Uniqueness Domains of 3-RPR Planar Parallel Manipulators With Similar Platforms," Proceedings of ASME 26th Biennial Mechanisms and Robotics Conference, Baltimore, Sept. 2000, Paper No. MECH-14094.
10. Innocenti, C., and Parenti-Castelli, V., 1998, "Singularity-Free Evolution From One Configuration to Another in Serial and Fully-Parallel Manipulators." ASME J. Mech. Des., 120, pp. 73-99.