2022
DOI: 10.1177/09544062221086856
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Numerical investigations, development and control of a cartesian (3-PRRR) parallel manipulator

Abstract: This paper focusses on the development of a Cartesian parallel manipulator (CPM) having multiple limb assembly configurations. An optimal configuration of the 3-PRRR CPM is identified after analysing the interference-free workspace of various limb assembly conditions, where each leg comprises an active prismatic joint followed by three revolute joints. The validation of the link interference detection algorithm is carried out using a virtual prototype. The Euler–Lagrange dynamic modelling of the CPM is validat… Show more

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Cited by 2 publications
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