Dimensional Synthesis of 3RRR Planar Parallel Robots for Well-Conditioned Workspace
Fecha
2015-11
Autores
Cardona, Manuel
Título de la revista
ISSN de la revista
Título del volumen
Editor
© IEEE
Resumen
In this paper an exhaustive singularity analysis of a 3RRR planar parallel robot is performed. The Jacobian matrix using the Screw theory is obtained and an effective method for singular configurations analysis based on a condition index of the Jacobian matrix is presented. Finally, a new similarity law that allows the workspace optimization free of singular configurations and the working mode selection is presented. Furthermore, MATLAB as a testing tool and programming language is used.
Descripción
Palabras clave
Paralell Robot , Inverse Kinematic , Workspace , Screw Theory , Twist , Wrench , Jacobian Matrix , Singularity
Citación
Cardona, Manuel. (2015). A new Approach for the Forward Kinematics of General Stewart-Gough Platforms. IEEE Thirty-fifth Convention of Central America and Panama (CONCAPAN XXXV). Tegucigalpa, Honduras.