Title :
Similarity law for the design and workspace optimization of 3RRR planar parallel robots
Author_Institution :
Fac. de Ing., Univ. Don Bosco, San Salvador, El Salvador
Abstract :
In this paper an exhaustive singularity analysis of a 3BRR 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; optimisation; robots; 3RRR planar parallel robots; Jacobian matrix; MATLAB; condition index; exhaustive singularity analysis; programming language; screw theory; similarity law; singular configuration analysis; singular configurations; testing tool; 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;
Conference_Titel :
Central America and Panama Convention (CONCAPAN XXXIV), 2014 IEEE
Conference_Location :
Panama City
DOI :
10.1109/CONCAPAN.2014.7000438
