Publication
Position analysis of a class of n-RRR planar parallel robots
Conference Article
Conference
International Conference of the IFToMM Italy (IFIT)
Edition
3rd
Pages
353-361
Doc link
https://doi.org/10.1007/978-3-030-55807-9_40
File
Authors
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Marchi, Tommaso
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Mottola, Giovanni
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Porta Pleite, Josep Maria
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Thomas, Federico
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Carricato, Marco
Projects associated
Abstract
Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by 'n' actuated RRR chains connected to the base. We solve the direct kinematic problem for 4, 5 and 6-RRR mechanisms by using bilateration, a method that easily lends itself to generalization. Finally, we present the results from experimental tests that have been performed on a 5-RRR prototype.
Categories
robots.
Scientific reference
T. Marchi, G. Mottola, J.M. Porta, F. Thomas and M. Carricato. Position analysis of a class of n-RRR planar parallel robots, 3rd International Conference of the IFToMM Italy, 2020, Online, in Advances in Italian Mechanism Science, Vol 91 of Mechanisms and Machine Science Series, pp. 353-361, Springer.
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