Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by n actuated RRR chains connected to the base. We solve the direct kinematic problem for 4, 5 and 6-RRR mechanisms by using bilateration, a method that easily lends itself to generalization. Finally, we present the results from experimental tests that have been performed on a 5-RRR prototype.
Marchi T., Mottola G., Porta J.M., Thomas F., Carricato M. (2021). Position Analysis of a Class of n-RRR Planar Parallel Robots. Cham : Springer [10.1007/978-3-030-55807-9_40].
Position Analysis of a Class of n-RRR Planar Parallel Robots
Marchi T.;Mottola G.;Carricato M.
2021
Abstract
Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by n actuated RRR chains connected to the base. We solve the direct kinematic problem for 4, 5 and 6-RRR mechanisms by using bilateration, a method that easily lends itself to generalization. Finally, we present the results from experimental tests that have been performed on a 5-RRR prototype.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
