Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Merlet, J.P.: Determination of the orientation workspace of parallel manipulators. J. Intell. Rob. Syst. 13, 143–160 (1995)
Stan, S-D.: Diplomarbeit, Analyse und Optimierung der strukturellen Abmessungen von Werkzeugmaschinen mit Parallelstruktur, IWF TU Braunschweig, Germany (2003)
Stan, S.-D., Manic, M., et al.: Evolutionary approach to optimal design of 3 DOF translation exoskeleton and medical parallel robots. In: 2008 Conference on Human System Interactions, pp. 720–725 (2008). https://doi.org/10.1109/HSI.2008.4581530
Stan, S.-D., Manic, M., Szep, C., Balan, R.: Performance analysis of 3 DOF Delta parallel robot. In: 2011 4th International Conference on Human System Interactions, HSI 2011, pp. 215–220 (2011). https://doi.org/10.1109/HSI.2011.5937369.
Lovasz, E.-C., et al.: Geared linkages with linear actuation used as kinematic chains of a planar parallel manipulator. In: Corves, B., Lovasz, E.-C., Hüsing, M. (eds.) Mechanisms, Transmissions and Applications. MMS, vol. 31, pp. 21–31. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-17067-1_3
Cecarelli, M.: A synthesis algorithm for three-revolute manipulators by using an algebraic formulation of workspace boundary. ASME J. Mech. Des. 117(2(A)), 298–302 (1995)
Patel, S., Sobh, T.: Manipulator performance measures - a comprehensive literature survey. J. Intell. Rob. Syst. 77(3–4), 547–570 (2014). https://doi.org/10.1007/s10846-014-0024-y
Tondu, B.: A zonotope-based approach for manipulability study of redundant robot limbs. Int. J. Hum. Robot. 10, 1350023 (2013). https://doi.org/10.1142/s0219843613500230
Angeles, J., LópezCajún, C.: Kinematic isotropy and the conditioning index of serial robotic manipulators. Int. J. Robot. Res. IJRR. 11, 560–571 (1992). https://doi.org/10.1177/027836499201100605
Acknowledgements
This article is supported by European Union’s Erasmus+ KA203 programme, project reference: 2019-1-RO01-KA203-06315 (“Development of mechatronics skills and innovative learning methods for Industry 4.0”).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Oarcea, A., Luputi, A.M.F., Cobilean, V., Stan, SD., Lovasz, EC. (2022). Kinematic Performance Analysis of a 3-R(RPRGR)RR Planar Parallel Robot. In: Quaglia, G., Gasparetto, A., Petuya, V., Carbone, G. (eds) Proceedings of I4SDG Workshop 2021. I4SDG 2021. Mechanisms and Machine Science, vol 108. Springer, Cham. https://doi.org/10.1007/978-3-030-87383-7_50
Download citation
DOI: https://doi.org/10.1007/978-3-030-87383-7_50
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-87382-0
Online ISBN: 978-3-030-87383-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)