Title :
Design and analysis of a 3-PPR planar robot with U-shape base
Author :
Bai, Shaoping ; Caro, Stephane
Author_Institution :
Dept. of Mech. Eng., Aalborg Univ., Aalborg, Denmark
Abstract :
In this paper, a planar 3-PPR parallel robot with a non-symmetrical base is proposed. The topology of base platform design is addressed for maximizing the robot´s workspace. A robot with U-shape base is designed and analyzed. The new robot reveals some interesting features, such as decoupled degrees of freedom and large reachable and orientational workspace.
Keywords :
control system analysis; manipulators; optimisation; U-shape base; design optimization; orientational workspace; parallel manipulators; planar 3-PPR parallel robot analysis; planar 3-PPR parallel robot design; reachable workspace; Aerospace simulation; Design optimization; Leg; Manipulators; Packaging machines; Parallel robots; Payloads; Robot kinematics; Shape; Topology; Planar parallel robot; design optimization; workspace analysis;
Conference_Titel :
Advanced Robotics, 2009. ICAR 2009. International Conference on
Conference_Location :
Munich
Print_ISBN :
978-1-4244-4855-5
Electronic_ISBN :
978-3-8396-0035-1
