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(RPRGR)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.
Kinematic Performance Analysis of a 3-R(RPRGR)RR Planar Parallel Robot
Mechan. Machine Science
International Workshop IFToMM for Sustainable Development Goals ; 2021 November 25, 2021 - November 26, 2021
2021-10-14
10 pages
Article/Chapter (Book)
Electronic Resource
English
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