Position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end-effector
Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in...
| Autores: | , , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/365242 |
| Acceso en línea: | https://hdl.handle.net/2117/365242 https://dx.doi.org/10.3390/machines9010007 |
| Access Level: | acceso abierto |
| Palabra clave: | Robotics Robots Parallel manipulators Reconfigurability Direct kinematics Singularities Robòtica Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n = 4, n = 5 and n = 6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n > 3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype. |
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