Dimensional Synthesis of 3RRR Planar Parallel Robots for Well-Conditioned Workspace
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 simila...
| Autor Principal: | Cardona, Manuel |
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| Formato: | info:eu-repo/semantics/article |
| Idioma: | eng |
| Publicado: |
© IEEE
2016
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| Materias: | |
| Acceso en línea: |
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. |
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| Sumario: |
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. |
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