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Operation modes of the planar 3-RRR manipulator
Published in Springer Netherlands
2018
Volume: 50
   
Pages: 441 - 448
Abstract
The planar 3-RRR parallel manipulator is known to have six assembly modes. However, analysing it in the framework of spatial kinematics reveals that it has a total of twelve assembly modes, six in each of the two possible operation modes. The modes are derived using a Study parameter formulation first, and later confirmed in another formulation in the joint-space, and finally visualised in terms of the planar constraint curves generated by the sub-chains of the manipulator. Numerical results show that all the twelve modes can be real for certain inputs. © Springer International Publishing AG 2018.
About the journal
JournalData powered by TypesetMechanisms and Machine Science
PublisherData powered by TypesetSpringer Netherlands
ISSN22110984
Open AccessNo
Concepts (7)
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    Manipulators
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    KINEMATIC MAPPING
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    Modes
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    Operation
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    SCREW AXIS
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    UNIVARIATE
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    KINEMATICS