The 3-rprr Kinematically Redundant Planar Parallel Manipulator
نویسندگان
چکیده
In this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six degrees of freedom, is presented. First the manipulator is introduced and its inverse displacement problem discussed. Then, all types of the singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the reachable and dexterous workspaces are obtained and compared with those of the non-redundant 3-PRR manipulator. Finally, based on a geometrical measure of proximity to singular configurations, actuation schemes for the manipulators are obtained. It is shown that the proposed manipulator is capable of following a path while avoiding the singularities.
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