On the resolution of forward kinematic problem using CAD graphical techniques: Application on planar parallel robotic manipulators

Abstract

The existence of singularity-free trajectories joining different assembly modes of a parallel robotic manipulator is a crucial property that permits to have a large effective workspace. The investigation of such a characteristic requires considering the forward kinematics problem. In this paper, an original method for forward kinematics resolution and singularity-free trajectory planning between different assembly modes is presented. The proposed method is based on a pure geometric approach and exploits the CAD environments utilities for geometric entity manipulations such as Boolean operations. The developments presented herein are mainly performed on 3-RPR planar parallel robot (PPR) and can be extended to several 3-DOF PPRs providing some adaptations.