DocumentCode
1786794
Title
Similarity law for the design and workspace optimization of 3RRR planar parallel robots
Author
Cardona, M.N.
Author_Institution
Fac. de Ing., Univ. Don Bosco, San Salvador, El Salvador
fYear
2014
fDate
12-14 Nov. 2014
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Central America and Panama Convention (CONCAPAN XXXIV), 2014 IEEE
Conference_Location
Panama City
Type
conf
DOI
10.1109/CONCAPAN.2014.7000438
Filename
7000438
Link To Document