Publication

Position analysis of a class of n-RRR planar parallel robots

Conference Article

Conference

International Conference of the IFToMM Italy (IFIT)

Edition

3rd

File

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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, to appear.