Síntesis Dimensional de Robots Paralelos Planares 3RRR para Espacios de Trabajo Bien Condicionado (Dimensional Synthesis of 3RRR Planar Parallel Robots for Well-Conditioned Workspace)

Manuel Napoleón Cardona Gutiérrez (ingcardona@gmail.com)


Universidad Don Bosco
This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2015
Volume: 13,   Issue: 2 
ISSN: 1548-0992


Abstract:
In this paper an exhaustive singularity analysis of a 3RRR planar parallel robot is performed. The Jacobian matrix using the Screw theory is obtained and an effective method for singular configurations analysis based on a condition index of the Jacobian matrix is presented. Finally, a new similarity law that allows the workspace optimization free of singular configurations and the working mode selection is presented. Furthermore, MATLAB as a testing tool and programming language is used.

Index Terms:
Paralell Robot, Inverse Kinematic, Workspace, Screw Theory, Twist, Wrench, Jacobian Matrix, Singularity   


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