Imperial College London

Dr Nicolas Rojas

Faculty of EngineeringDyson School of Design Engineering








Dyson BuildingSouth Kensington Campus






BibTex format

author = {Baron, N and Philippides, A and Rojas, N},
doi = {10.1115/1.4041698},
journal = {Journal of Mechanisms and Robotics},
pages = {011008--011008},
title = {A novel kinematically redundant planar parallel robot manipulator with full rotatability},
url = {},
volume = {11},
year = {2019}

RIS format (EndNote, RefMan)

AB - This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal rigid structures when the actuators are locked. This also implies that its rigidity is not inherited from more general architectures or resulting from the combination of other fundamental structures. The introduced topology is a departure from the standard 3-RPR (or 3-RRR) mechanism on which most kinematically redundant planar parallel robot manipulators are based. The robot manipulator consists of a moving platform that is connected to the base via two RRR legs and connected to a ternary link, which is joined to the base by a passive revolute joint, via two other RRR legs. The resulting robot mechanism is kinematically redundant, being able to avoid the production of singularities and having unlimited rotational capability. The inverse and forward kinematics analyses of this novel robot manipulator are derived using distance-based techniques, and the singularity analysis is performed using a geometric method based on the properties of instantaneous centers of rotation. An example robot mechanism is analyzed numerically and physically tested; and a test trajectory where the end effector completes a full cycle rotation is reported. A link to an online video recording of such a capability, along with the avoidance of singularities and a potential application, is also provided.
AU - Baron,N
AU - Philippides,A
AU - Rojas,N
DO - 10.1115/1.4041698
EP - 011008
PY - 2019///
SN - 1942-4302
SP - 011008
TI - A novel kinematically redundant planar parallel robot manipulator with full rotatability
T2 - Journal of Mechanisms and Robotics
UR -
UR -
VL - 11
ER -