Abstract
The study of parallel robot dynamics cannot be done without using their kinematic relationships and studying their singularities. Therefore, in the present chapter, we investigate the computation of inverse and forward geometric and kinematic models of the usual PKM. The models of several robots will be solved:
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The planar five-bar mechanism,
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The planar 3–R P R planar parallel mechanism (PPM),
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The Orthoglide,
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The Gough-Stewart platform.
These robots have been chosen because they are typical examples found in the literature and/or their dynamic model will be defined later in the book.
The original version of this chapter contained errors which have been corrected. These are detailed in the erratum to be found under DOI 10.1007/978-3-319-19788-3_12
An erratum to this chapter can be found at http://dx.doi.org/10.1007/978-3-319-19788-3_12
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Notes
- 1.
At the end of the Chap. 7 on the kinematics of PKM, we will present the geometry and kinematic equations by considering PKMmade of serial legs only. However, the methodology can be extended to any types of legs. Moreover, the equations of the dynamics presented in Chap. 8 are general and can be used for any types of legs made of serial, closed-loop or tree-structure chains.
- 2.
- 3.
They are also called serial singularities in some works because it is similar to the singularities of serial robots. However, in the present book, a serial singularity has another meaning.
- 4.
They are also called parallel singularities in some works. However, we do not want to use this term because it may concern also the constraint singularities and thus may be confusing.
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© 2015 Springer International Publishing Switzerland
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Briot, S., Khalil, W. (2015). Kinematics of Parallel Robots. In: Dynamics of Parallel Robots. Mechanisms and Machine Science, vol 35. Springer, Cham. https://doi.org/10.1007/978-3-319-19788-3_7
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DOI: https://doi.org/10.1007/978-3-319-19788-3_7
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Publisher Name: Springer, Cham
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Online ISBN: 978-3-319-19788-3
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