This paper revisits the forward displacement analysis (also forward kinematics) of a class of 3-
PR planar parallel manipulator with congruent equilateral base and moving platform using an algebraic approach. Conditions on the inputs under which the manipulator has different number of solutions to the forward displacement analysis, including infinite solutions (self-motion), a double solution, and two distinct solutions are re-derived in an elegant way. In the first two cases, the parallel manipulator is in singular configurations. The geometric interpretation of these conditions on the input is presented.
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