By Topic

Enlarging the useable workspace of planar parallel robots using mechanisms of variable geometry

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kotlarski, J. ; Inst. of Mechatron. Syst., Leibniz Univ., Hannover, Germany ; Abdellatif, H. ; Ortmaier, T. ; Heimann, B.

This paper demonstrates the efficiency of kinematic redundancy used to increase the useable workspace of planar parallel mechanisms. As examples, we propose kinematically redundant schemes of the well known planar 3RRR and 3RPR mechanisms denoted as 3(P)RRR and 3(P)RPR. In both cases, a prismatic actuator is added allowing a usually fixed base joint to move linearly. Hence, reconfigurations can be performed selectively in order to avoid singularities and to affect the mechanisms' performance directly. Using an interval-based method the useable workspace, i.e. the singularity-free workspace guaranteeing a desired performance, is obtained. Due to the interval analysis any uncertainties can be implemented within the algorithm leading to practical and realistic results. It is shown that due to the additional prismatic actuator the useable workspace increases significantly. Several analysis examples clarify the efficiency of the proposed kinematically redundant mechanisms.

Published in:

Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on

Date of Conference:

22-24 June 2009