Dimensional Synthesis of 3RRR Planar Parallel Robots for Well-Conditioned Workspace

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dc.contributor.authorCardona, Manuel
dc.date.accessioned2016-02-15T14:36:46Z
dc.date.available2016-02-15T14:36:46Z
dc.date.issued2015-11
dc.description.abstractIn 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.es
dc.format.mimetypeapplication/pdfeng
dc.identifier.citationCardona, 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.es
dc.identifier.issn1548-0992
dc.identifier.urihttp://hdl.handle.net/11715/960
dc.language.isoenges
dc.publisher© IEEEes
dc.relation.isformatofReproducción del documento originalspa
dc.rights© Universidad Don Boscospa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesseng
dc.subjectParalell Robotes
dc.subjectInverse Kinematices
dc.subjectWorkspacees
dc.subjectScrew Theoryes
dc.subjectTwistes
dc.subjectWrenches
dc.subjectJacobian Matrixes
dc.subjectSingularityes
dc.titleDimensional Synthesis of 3RRR Planar Parallel Robots for Well-Conditioned Workspacees
dc.typeinfo:eu-repo/semantics/articlees
dc.type.versioninfo:eu-repo/semantics/publishedVersioneng
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