Workspace analysis and design of a 3-DOF micro parallel robot

被引：0

作者：

Stan, S.

Maties, V

Balan, R.

Lapusan, C.

机构：

来源：

ANNALS OF DAAAM FOR 2007 & PROCEEDINGS OF THE 18TH INTERNATIONAL DAAAM SYMPOSIUM: INTELLIGENT MANUFACTURING & AUTOMATION: FOCUS ON CREATIVITY, RESPONSIBILITY, AND ETHICS OF ENGINEERS | 2007年

关键词：

workspace; 3-(R)under-barRR; parallel robot; singularities;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a workspace analysis for a three-degree offreedom parallel micro robot is outlined by using optimality criterion of workspace and numerical aspects. We proposed a numerical procedure for determining and evaluating the work-space of the 3-(R) under bar RR robot architecture. The analysis and algorithm can be used as a design tool to select dimensions, actuators and joints in order to maximize the workspace and improve stiffness within the workspace. A program was created in MATLAB for workspace analysis of 3 DOF parallel robots.

引用

页码：709 / 710

页数：2

共 7 条

[1]

AGRAWAL SK, 1990, INT J ROBOT AUTOM, V6, P281

[2] A SYNTHESIS ALGORITHM FOR 3-REVOLUTE MANIPULATORS BY USING AN ALGEBRAIC FORMULATION OF WORKSPACE BOUNDARY [J].