A sequential method for the singularity-free workspace design of a three legged parallel robot

A sequential method for the singularity-free workspace design of a three legged parallel robot

A method to design a singularity-free 3-arm planar parallel mechanism is presented. Single-arm and two-arm singularities are addressed for design purposes. A sequential design procedure is explained, whereby two arms are designed first to satisfy workspace requirements, then the third arm is designe...

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Veröffentlicht in:Mechanism and machine theory 2010-11, Vol.45 (11), p.1694-1706
Hauptverfasser: Yang, Yawei, O'Brien, John F.
Format: Artikel
Sprache:eng
Schlagworte:
3-R PR
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Drives
Exact sciences and technology
Linkage mechanisms, cams
Mechanical engineering. Machine design
Parallel robot
Robotics
Robots
Singularities
Singularity-free
Workspace design
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Beschreibung
Zusammenfassung:A method to design a singularity-free 3-arm planar parallel mechanism is presented. Single-arm and two-arm singularities are addressed for design purposes. A sequential design procedure is explained, whereby two arms are designed first to satisfy workspace requirements, then the third arm is designed to provide a singularity-free workspace. The method is used to develop a singularity-free workspace design for the 3-R PR mechanism.
ISSN:0094-114X
1873-3999
DOI:10.1016/j.mechmachtheory.2010.06.007