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.;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.
Advances in Italian Mechanism Science, Proceedings of the 3rd International Conference of IFToMM Italy
353
361
Marchi T.; Mottola G.; Porta J.M.; Thomas F.; Carricato M.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/771846
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