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Kinematic analysis and path planning of a new kinematically redundant planar parallel manipulator

Published online by Cambridge University Press:  01 May 2008

Iman Ebrahimi ,
Juan A. Carretero  and
Roger Boudreau
Iman Ebrahimi
Affiliation:
Department of Mechanical Engineering, University of New Brunswick, Fredericton, Canada
Juan A. Carretero*
Affiliation:
Department of Mechanical Engineering, University of New Brunswick, Fredericton, Canada
Roger Boudreau
Affiliation:
Département de génie mécanique, Université de Moncton, Moncton, Canada
*
*Corresponding author: E-mail address: Juan.Carretero@unb.ca
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Summary

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 singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the dexterous workspace is geometrically obtained and compared with the non-redundant 3-PRR planar parallel manipulator. Finally, based on a geometrical measure of proximity to singular configurations and the condition number of the manipulators' Jacobian matrices, actuation schemes for the manipulators are obtained. Different actuation schemes for a given path are obtained and the quality of their actuation schemes are compared. It is shown that the proposed manipulator is capable of following a path while avoiding the singularities.

Keywords

Kinematic redundancyPlanar parallel manipulatorsInverse displacementSingularity analysisWorkspace analysisPath planning3-RPRR
Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 405 - 413
Copyright
Copyright © Cambridge University Press 2008

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