A Workspace Characterization of the 3-RRR Planar Parallel Mechanism-Reference-Cited by-同舟云学术

A Workspace Characterization of the 3-RRR Planar Parallel Mechanism

Published:2014-10 Issue: Volume:658 Page:563-568
ISSN:1662-7482
Container-title:Applied Mechanics and Materials
language:
Short-container-title:AMM

Author:

Buium Florentin¹,Leohchi Dumitru¹,Doroftei Ioan¹

Affiliation:

1. Technical University “Gh. Asachi” Iasi

Abstract

The paper deals with a workspace problem of the 3 RRR planar parallel mechanism, used as parallel robot structure. Depending on the dimensional parameters and constructive characteristics, the authors search to depict the shape and particularities of the mechanism workspace of a 3 RRR planar parallel mechanism. This characterization of the mechanism workspace depending on the dimensional parameters can be usefull in mechanism designing accorded to some functional particularities and also can help in avoiding singular configurations.

Publisher

Trans Tech Publications, Ltd.

Link

https://www.scientific.net/AMM.658.563.pdf

Reference11 articles.

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3. I., Doroftei, Singularity analysis of a 3RRR planar parallel robot II - Physical Signification, Buletinul Institutului Politehnic din Iasi, Tom LIV(LVIII), Fasc. 1, 2008, Sectia Constructii de Masini, Iasi, pp.473-480.

4. M., Arsenault, R., Roger Boudreau, The synthesis of three-degree-of-freedom planar mechanism with revolute joints (3-RRR) for an optimal singularity-free workspace, Journal of Robotic Systems 21(5), 259-274 (2004).

5. I., Bonev, Geometric analysis of planar mechanisms, PhD thesis, Departament de Genie Mecanique, Faculte des Sciences et de Genie, Universite Laval, Quebec (2002).

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