A study of workspace and singularity characteristics is presented for two common types of 3-DOF planar parallel robot manipulators. The robots considered feature a kinematic structure with 3 in-parallel actuated, R-R-R and R-P-R serial chain geometries. In this study, computer simulations aided with graphic visualization were used to characterize the complete pose workspace (for ranges of both position and orientation) and the singularity inherent to the systems. Parametric studies have also been performed to ascertain the way in which both characteristics vary with respect to various geometric parameters such as pivot location, link length, and platform size for end-effector. Results are shown by way of a unique composite ratio of the available workspace to the density of singularity within that workspace.
Workspace and Singularity Characteristics of 3-DOF Planar Parallel Robots
- Views Icon Views
- Share Icon Share
- Search Site
Huang, M. "Workspace and Singularity Characteristics of 3-DOF Planar Parallel Robots." Proceedings of the ASME 2009 International Mechanical Engineering Congress and Exposition. Volume 10: Mechanical Systems and Control, Parts A and B. Lake Buena Vista, Florida, USA. November 13–19, 2009. pp. 209-215. ASME. https://doi.org/10.1115/IMECE2009-12972
Download citation file: