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Dexterous Workspace of N-PRRR Planar Parallel Manipulators

[+] Author Affiliations
André Gallant, Roger Boudreau, Marise Gallant

Université de Moncton, Moncton, NB, Canada

Paper No. DETC2010-28491, pp. 1327-1334; 8 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PR RR planar parallel manipulators. The dexterous workspace of each non-redundant RRR kinematic chain is first determined using a four-bar mechanism analogy. The effect of the prismatic actuator is then considered to yield the workspace of each PRRR kinematic chain. The intersection of the dexterous workspaces of all the kinematic chains is then obtained to determine the dexterous workspace of the planar n-PR RR manipulator. The Gauss Divergence Theorem applied to planar surfaces is implemented to compute the total dexterous workspace area. Finally, two examples are shown to demonstrate applications of the method.

Copyright © 2010 by ASME
Topics: Manipulators



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