Performance evaluation of a sensor concept for solving the direct kinematics problem of general planar 3-RPR parallel mechanisms by using solely the linear actuators’ orientations

Stefan Schulz
In this paper, we experimentally evaluate the performance of a sensor concept for solving the direct kinematics problem of a general planar 3-RPR parallel mechanism by using solely the linear actuators’ orientations. At first, we review classical methods for solving the direct kinematics problem of parallel mechanisms and discuss their disadvantages on the example of the general planar 3-RPR parallel mechanism, a planar parallel robot with two translational and one rotational degrees of freedom, where...
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