Title :
Dimensional Synthesis of 3RRR Planar Parallel Robots for Well-Conditioned Workspace
Author :
Cardona Gutierrez, Manuel Napoleon
Author_Institution :
Fac. de Ing., Univ. Don Bosco, San Salvador, El Salvador
Abstract :
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.
Keywords :
Jacobian matrices; manipulator kinematics; 3RRR planar parallel robot; Jacobian matrix; MATLAB; condition index; dimensional synthesis; programming language; screw theory; similarity law; singular configuration analysis; singularity analysis; testing tool; well-conditioned workspace; working mode selection; workspace optimization; Fasteners; Jacobian matrices; MATLAB; Service robots; Silicon; Transmission line matrix methods; Inverse Kinematic; Jacobian Matrix; Paralell Robot; Screw Theory; Singularity; Twist; Workspace; Wrench;
Journal_Title :
Latin America Transactions, IEEE (Revista IEEE America Latina)
DOI :
10.1109/TLA.2015.7055557
