Title :
A Case Study of Planar 3-RPR Parallel Robot Singularity Free Workspace Design
Author :
Yang, Yawei ; O´Brien, John F.
Author_Institution :
Wyoming Univ., Laramie
Abstract :
A method to design a singularity-free planar 3-RPR planar parallel mechanism is presented. All the singular configurations of planar 3-RPR planar parallel mechanism are identified and categorized for design purposes. The location of the third base joint is taken as the design variable. A sequential design procedure is presented. And a solution set for the design variable is found.
Keywords :
manipulator kinematics; planar 3-RPR planar parallel robot; sequential design; singularity free workspace design; Actuators; Clocks; Design automation; Design methodology; Differential equations; Kinematics; Mechatronics; Parallel robots; Robotics and automation; Trajectory; Parallel Robots; Singularity; Workspace Design;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4303829
