Paper Title:
Resolution of a 3 RRR Planar Parallel Mechanism
  Abstract

This paper proposes a methodology to analyze the resolution and variations in the positions of the 3RRR planar parallel mechanism driven by electrical actuators of discrete steps. This methodology consists of graphing and plotting all the possible combinations of angular movements of a three legs mechanism. This generates a “cloud of points” that will be the boundary of the control limits, so as to find the closest trajectory to a straight line. It was found that resolution, accuracy, and the approximation error improves when micro-steps are employed. For this purpose, it is necessary to determine direct and inverse kinematics, in order to calculate the workspace. A prototype was built to validate the methodology proposed.

  Info
Periodical
Edited by
G. Urriolagoitia-Calderón, L. H. Hernández-Gómez and M. Toledo-Velázquez
Pages
61-66
DOI
10.4028/www.scientific.net/AMM.15.61
Citation
R. Yáñez-Valdez, M. Ruiz-Torres, E. Morales-Sánchez, E. Castillo-Castañeda, J.A. Briones-León, "Resolution of a 3 RRR Planar Parallel Mechanism", Applied Mechanics and Materials, Vol. 15, pp. 61-66, 2009
Online since
August 2009
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Shu Jun Li, Clément Gosselin
Chapter 4: Mechatronics and Information
Abstract:The singularity-free workspace of parallel mechanisms is important in the trajectory planning and the kinematic design of the mechanisms. The...
1992
Authors: Jia Ming Deng, Wei Wang, Hui Ping Shen, Zheng Hua Ma, Yun Feng Li, Suo Lin Duan
Abstract:In order to meet the needs of changing positions and orientations in large-scale product testing and large workpiece operating, such as...
590
Authors: Syam Sundar, Vijay S. Rathore, Manoj K. Sahi, V. Upendran, Anjan Kumar Dash
Chapter 9: Control, Automation and Diagnostic
Abstract:In this article‚ a new approach is presented to determine the various shapes of workspaces of 5 bar symmetric planar parallel manipulators....
1664
Authors: Rui Jun Zhang, Qing Xuan Jia, Liu Meng, Ji Wei Qiu
Chapter 9: Mechatronics
Abstract:A kind of accuracy sensitivity analysis and numerical simulation method about the mechanism kinematic is proposed for the purpose of getting...
1460