0
Research Papers

Dexterous Workspace of n-PR RR Planar Parallel Manipulators

[+] Author and Article Information
André Gallant

Département de génie mécanique,  Université de Moncton, Moncton, NB, E1A 3E9 Canadaandre@gallantandre.com

Roger Boudreau1

Département de génie mécanique,  Université de Moncton, Moncton, NB, E1A 3E9 Canadaroger.a.boudreau@umoncton.ca

Marise Gallant

Département de génie mécanique,  Université de Moncton, Moncton, NB, E1A 3E9 Canadamarise.gallant@umoncton.ca

1

Corresponding author.

J. Mechanisms Robotics 4(3), 031009 (Jul 02, 2012) (6 pages) doi:10.1115/1.4006873 History: Received October 06, 2010; Revised April 27, 2012; Published June 29, 2012; Online July 02, 2012

In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PR RR (n-PR RR indicates that the manipulator consists of n serial kinematic chains that connect the base to the end-effector. Each chain is composed of two actuated (therefore underlined) joints and two passive revolute joints. P indicates a prismatic joint while R indicates a revolute joint.) planar parallel manipulators. The dexterous workspace of each nonredundant 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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2012 by American Society of Mechanical Engineers
Topics: Chain , Manipulators
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Example 3-PR RR planar parallel manipulator

Grahic Jump Location
Figure 2

Example RRR kinematic chain

Grahic Jump Location
Figure 3

The 3 classes of workspaces of RRR kinematic chains

Grahic Jump Location
Figure 4

The 5 types of workspaces of PRRR kinematic chains

Grahic Jump Location
Figure 5

Shapes of regions of the workspace of a PRRR kinematic chain

Grahic Jump Location
Figure 6

Example line segments as part of the workspace boundary

Grahic Jump Location
Figure 7

Example 3-PR RR manipulator

Grahic Jump Location
Figure 8

Example 3-PR RR manipulator workspace

Grahic Jump Location
Figure 9

Example 4-PR RR manipulator

Grahic Jump Location
Figure 10

Example 4-PR RR manipulator workspace

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In