A Workspace Characterization of the 3-RRR Planar Parallel Mechanism

Buium, F.; Leohchi, Dumitru; Doroftei, Ioan

doi:10.4028/www.scientific.net/amm.658.563

Cited by 16 publications

(3 citation statements)

References 5 publications

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“…13 the workspace singularity map and the singularity free transition layer in order to perform the singularity avoidance by using a redundant planar parallel manipulator. Buium et al [14][15][16] addressed the singularity problem and workspace characterization of 3-DoF planar parallel manipulators. Kotlarski 17 devised an improved geometrical solver-based approach for obtaining the assured singularity-free workspace of planar parallel manipulators avoiding to calculate the troublesome Jacobian's determinant.…”

Section: Introductionmentioning

confidence: 99%

Kinematic study of feasibility of geared planar parallel manipulator

Lupuţi

Lovasz

Ceccarelli

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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The paper shows an appropriate unitary study of a novel geared planar parallel manipulator with the structure 3-R (PRRGR)RR which uses geared linkages with linear actuators and slider cranks as legs. The use of geared linkages with linear actuation although with more complex structure, allows a large rotation angle with proper transmission angle in the linkages and the approximately linear transmission function within large range. A positional kinematic analysis of the 3-R (PRRGR)RR was developed with a unitary analytical model, which is worked out through a numerical example that computes the singularities of type I and II together with the local and global performance indices, namely manipulability, conditioning number, kinematic, stiffness and transmission indices. The presented results are discussed and compared with an equivalent 3-RRR planar parallel manipulator with the same links lengths to highlight the kinematic advantages of the proposed planar parallel manipulator 3-R (PRRGR)RR. The novel geared planar parallel manipulator is designed and simulated in Creo Parametric in order to validate the analytical model with a numerical performance characterization.

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Section: Introductionmentioning

confidence: 99%

Kinematic study of feasibility of geared planar parallel manipulator

Lupuţi

Lovasz

Ceccarelli

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…60 studied the workspace and dimensional optimization of the planar parallel manipulators. Various authors 61–65 also studied the workspace problems of different parallel mechanisms. Most of the above studies have focused on the impact of structural parameters on the size of the workspace, but ignored the identification of the irregular workspace boundaries.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

Yao

Han

Dou³

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Parallel mechanism has been widely used in large-scale and heavy-duty attitude adjustment equipment. In order to improve the work reliability of the subreflector parallel adjusting mechanism, a fault-tolerant strategy based on the redundant degree-of-freedom and a workspace boundary identification method are proposed in this paper, which can realize the proper function of the subreflector parallel adjusting mechanism when it has a driven fault. The configuration and parameters of the parallel adjusting mechanism are introduced firstly, then the degrees-of-freedom of the parallel adjusting mechanism is calculated when it has a driven fault, and the principle of the fault-tolerant strategy based on the redundant degree-of-freedom is deduced in detail. Next, the method to solve the workspace boundary identification problem for the parallel adjusting mechanism in fault tolerance conditions is proposed, the maximum and minimum workspaces of the parallel adjusting mechanism at fault tolerance conditions in different frequency bands are analyzed. The results showed that the workspace calculated by the fault-tolerant strategy in the fault condition can completely meet the needs of the subreflector, where this method can also be applied to other parallel mechanisms. Lastly, an experiment is conducted to verify the correctness and effectiveness of the fault-tolerant strategy, in which the results showed that the fault-tolerant strategy can effectively improve the work reliability of the parallel adjusting mechanism. The fault-tolerant strategy and workspace boundary identification method can make the subreflector parallel adjusting mechanism work normally when it has a driven fault, which can significantly improve the work reliability and work efficiency and the maintenance cost can also be reduced. The fault-tolerant strategy and workspace boundary identification method can also be well applied to the research and development for this kind of parallel mechanical equipment.

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“…The most commonly studied structures for planar three-degree-of-freedom (3-DOF) parallel manipulators are 3-RRR, 29–34 3-RPR, 35–39 and 3-PRR 40–42 where R and P denote the revolute and prismatic joints, respectively. As a solution to reduce the leg interference problem of these three-legged structures, Ji 43 suggested 3-DOF planar 2-RRR parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

Singularity analysis of two-legged planar parallel robots with three degrees of freedom

Özdemir

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Planar two-legged parallel robots with three degrees of freedom have been suggested in the literature as a solution to reduce the leg interference problem of their conventional three-legged counterparts, and since then have attracted considerable attention. This paper presents a singularity analysis of these robots. Three alternatives, namely the robots with 2-RRR, 2-RPR, and 2-PRR structures are considered. Type I, II, and III singularity conditions are obtained taking into account all possible actuation schemes. Several singularity-free actuation schemes are enumerated and discussed. The performed analysis also shows that adjustable designs are possible for manipulators with 2-PRR structures to have singularity-free operation. The proposed design concept and its effectiveness are illustrated through numerical examples.

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A Workspace Characterization of the 3-RRR Planar Parallel Mechanism

Cited by 16 publications

References 5 publications

Kinematic study of feasibility of geared planar parallel manipulator

Kinematic study of feasibility of geared planar parallel manipulator

Fault-tolerant strategy and workspace of the subreflector parallel adjusting mechanism

Singularity analysis of two-legged planar parallel robots with three degrees of freedom

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