A new class of reconfigurable planar three legged platforms is introduced. Kinematic mapping techniques are applied to solve the forward and inverse kinematic problems, and to visualize the reachable workspace of the platform. The results show that the new class of manipulator is viable from a kinematic modelling point of view.

dx.doi.org/10.1007/978-3-7091-0277-0_49
CISM International Centre for Mechanical Sciences, Courses and Lectures
Department of Mechanical and Aerospace Engineering

Hayes, M.J.D. (2010). Reconfigurable planar three-legged parallel manipulators. In CISM International Centre for Mechanical Sciences, Courses and Lectures. doi:10.1007/978-3-7091-0277-0_49