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.
Position Analysis of a Class of n-RRR Planar Parallel Robots / Marchi T.; Mottola G.; Porta J.M.; Thomas F.; Carricato M.. - STAMPA. - 91:(2021), pp. 353-361. [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.