A Simulation Tool to Study the Kinematics and Control of 2RPR-PR Parallel Robots

This paper presents an educational simulation tool to analyze the kinematics and dynamic control of 2RPR-PR planar parallel robots. The tool, which is very intuitive, allows the robotics students to simulate the forward and inverse kinematic problems of these robots, visualizing the evolution of the solutions to the forward kinematics in the complex space. The tool also allows the students to study the relation between the singularities and the design of the robot, and analyze different methods to change between different assembly modes.