Kinematic Performance Analysis of a 3-R(R(P)under-barRGR)RR Planar Parallel Robot

被引：3

作者：

Oarcea, Alexandru ^{[1
]}

Luputi, Antonio Marius Flavius ^{[2
]}

Cobilean, Victor ^{[1
]}

Stan, Sergiu-Dan ^{[1
]}

Lovasz, Erwin-Christian ^{[2
]}

机构：

[1] Tech Univ Cluj Napoca, Cluj Napoca, Romania

[2] Politehn Univ Timisoara, Timisoara, Romania

来源：

PROCEEDINGS OF I4SDG WORKSHOP 2021: IFTOMM FOR SUSTAINABLE DEVELOPMENT GOALS | 2022年 / 108卷

关键词：

SDG9; Performance indices; Manipulability index; Local conditioning number; MATLAB; WORKSPACE;

D O I：

10.1007/978-3-030-87383-7_50

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

The study deals with a parallel robot structure, which is actuated by three linear actuators using a geared linkage. The main advantages of this structures having geared linkages with linear actuation give the manipulator a large rotation angle with proper transmission angle while offering the possibility of avoiding the first type singularities. The main goal of this paper is to analyze the kinematic performance of a 3-R(R (P) under bar RGR)RR planar parallel robot. By computing the performance indices, the whole space of the robot can be restrained, to leave the regions in which robot can move easily. MathWorks MATLAB was used for computing the performance indices and for visualization of the results.

引用

页码：461 / 470

页数：10

共 9 条

[1] KINEMATIC ISOTROPY AND THE CONDITIONING INDEX OF SERIAL ROBOTIC MANIPULATORS [J].