通过改变作动器的位置对3dof3 - rrr平面并联机器人奇异点进行整形

2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC) Pub Date : 1900-01-01 DOI:10.1109/RCTFC.2016.7893413

K.R. Rama Krishnan, M. Ganesh, A. Dash

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引用次数: 1

摘要

并联机械臂具有良好的载荷、更高的精度和刚度;然而，它的工作空间具有复杂的运动奇异性，这成为其使用的绊脚石。本文提出了一种通过改变基座作动器来重新定位或减少工作空间内奇异点的新方法。该方法在一个3-RRR平面并联机器人上实现。结果表明，奇异点的数量随基座作动器位置的变化呈一定的趋势，在其工作空间内规划奇异点自由路径时，可以减少或重新定位奇异点。

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Reshaping the singularities in 3 D.O.F 3-RRR planar parallel manipulator by varying the position of the actuator

A parallel manipulator has good payload, greater accuracy, and stiffness; however its workspace has complex kinematics singularities which become a stumbling block in its use. In this paper, a novel approach of changing the base actuator to relocate/reduce the singularities within the workspace is proposed. The proposed approach is implemented in a 3-RRR planar parallel manipulator. Results show that there is a trend in the number of singularities with respect to the change in location of the base actuator and it can be used to reduce or relocate the singularities while planning a singularity free path within its workspace.

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2016 International Conference on Robotics: Current Trends and Future Challenges (RCTFC)

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