2018 IEEE 2nd Colombian Conference on Robotics and Automation (CCRA) 2018
DOI: 10.1109/ccra.2018.8588123
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Kinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory

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Cited by 7 publications
(4 citation statements)
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“…This means that the similarity law of planar 3RRR robots reduces the number of singularities obtained in kinematic models. Most models use P, Q, and R as active joints [3][4][5][6][7][8][9][10][11][12], which is the major difference from this kinematic model, which has active joints in P, D, and A. This complexity in kinematic models leads to the use of polynomial equations of degree eight for their solution.…”
Section: Discussionmentioning
confidence: 99%
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“…This means that the similarity law of planar 3RRR robots reduces the number of singularities obtained in kinematic models. Most models use P, Q, and R as active joints [3][4][5][6][7][8][9][10][11][12], which is the major difference from this kinematic model, which has active joints in P, D, and A. This complexity in kinematic models leads to the use of polynomial equations of degree eight for their solution.…”
Section: Discussionmentioning
confidence: 99%
“…This study focuses on the 3RRR symmetric planar robot shown in Figure 2. Existing literature models [3][4][5][6][7][8][9][10][11][12] position active joints at the base joints, i.e., P, Q, and R, whereas passive joints are at points A, B, C, D, E, and F. This study proposes a mathematical model of a planar parallel robot where the active joints are rather located at joints P, D, and A, all of which belong to a single kinematic chain. The kinematic models derived in this work are then compared and contrasted to the conventional models in Table 1, and a discussion of the advantages of our derived models is provided.…”
Section: Rrr Symmetric Planar Robot Active Jointsmentioning
confidence: 99%
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“…In all other situations, it is necessary to have recourse to numerical minimisation methods, as is done in [26,27]. Other authors have proposed to approach the problem with a search on manifolds [28], constraint curves [29], or simplifying the equations by including as input the value of the passive angles, which were previously determined [30].…”
Section: Introductionmentioning
confidence: 99%