id: 01908318
dt: j
an: 01908318
au: Ji, Zhiming
ti: Study of planar three-degree-of-freedom 2-RRR parallel manipulators.
so: Mech. Mach. Theory 38, No. 5, 409-416 (2003).
py: 2003
pu: Elsevier Science Ltd. (Pergamon), Oxford
la: EN
cc: 
ut: Parallel robot; Planar parallel robot; Kinematics; Singularity
ci: 
li: doi:10.1016/S0094-114X(02)00130-1
ab: Summary: Planar parallel robots are good candidates for
    microminiaturization into a microdevice. Fully-parallel planar robots
    have three kinematic chains (legs) connecting the moving platform to
    the fixed base. Functional workspace of planar fully-parallel robots is
    often limited because of interference among their mechanical
    components. Planar parallel robots with two kinematic chains connecting
    the moving platform to the base can be designed to reduce interference
    while still maintaining three-degree-of-freedom. This paper presents
    kinematics and singularity study of planar three-degree-of-freedom
    2-RRR parallel manipulators. Forward displacement analysis of this type
    of robots is governed by a quadratic equation. The inverse problem is
    decomposed to yield up to four solutions. Singularity analysis reveals
    up to four singular orientations at each operation point $(x,y)$ of the
    workspace, in addition to boundary singularities.
rv: