Resolution of a 3 RRR Planar Parallel Mechanism

This paper proposes a methodology to analyze the resolution and variations in the positions of the 3RRR planar parallel mechanism driven by electrical actuators of discrete steps. This methodology consists of graphing and plotting all the possible combinations of angular movements of a three legs mechanism. This generates a “cloud of points” that will be the boundary of the control limits, so as to find the closest trajectory to a straight line. It was found that resolution, accuracy, and the approximation error improves when micro-steps are employed. For this purpose, it is necessary to determine direct and inverse kinematics, in order to calculate the workspace. A prototype was built to validate the methodology proposed.