Author:
Murray Andrew P.,Pierrot François,Dauchez Pierre,McCarthy J.
Michael
Abstract
In this paper we present a technique for designing planar parallel
manipulators with platforms capable of reaching any number of desired poses. The
manipulator consists of a platform connected to ground by RPR chains. The set of
positions and orientations available to the end-effector of a general RPR chain
is mapped into the space of planar quaternions to obtain a quadratic manifold.
The coefficients of this constraint manifold are functions of the
locations of the base and platform R joints and the distance between
them. Evaluating the constraint manifold at each desired pose and defining the
limits on the extension of the P joint yields a set of equations.
Solutions of these equations determine chains that contain the desired poses as
part of their workspaces. Parallel manipulators that can reach the prescribed
workspace are assembled from these chains. An example shows the determination of
three RPR chains that form a manipulator able to reach a prescribed
workspace.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
21 articles.
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