The paper intends to outline workspace of a planar parallel mechanism taking into account both: first type and second type of singularities. These questions influence in an important mode, inverse and direct kinematics of this mechanisms. The chosen mechanism for this purpose is of 3 RRR type, used as mechanical structure for a robot manipulator. Some results of this study can be useful in technical education or mechanism design.
Workspace Analysis of a 3 RRR Planar Mechanism
Mechan. Machine Science
International Symposium on Measurements and Control in Robotics ; 2023 ; Iasi, Romania September 21, 2023 - September 22, 2023
25th International Symposium on Measurements and Control in Robotics ; Chapter : 7 ; 73-81
2024-04-02
9 pages
Article/Chapter (Book)
Electronic Resource
English
An Interval-Based Method for Workspace Analysis of Planar Flexure-Jointed Mechanism
Online Contents | 2009
|Dynamic Workspace and Control of Planar Active Tensegritylike Structures
Online Contents | 2008
|Workspace density and inverse kinematics for planar serial revolute manipulators
Online Contents | 2013
|