Title :
A sequential method for the singularity free workspace design of a planar 3-arm parallel robot
Author :
Yang, Yawei ; Brien, John F O
Author_Institution :
ASML US Inc., Wilton, CT
Abstract :
A method to design a singularity-free 3-arm planar parallel mechanism is presented. Parallel mechanism singularities are categorized by their relationship to the design problem. 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-RPR mechanism.
Keywords :
control system synthesis; manipulators; planar 3-arm parallel robot design; sequential method; singularity free workspace design; Actuators; Design methodology; Joints; Parallel robots; Poles and zeros; Robots; Trajectory;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651098
