Kinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory

In this paper, a complete kinematic analysis of a planar 3-RRR parallel robot is presented. The position through the direct and inverse kinematics, velocities, jacobians and accelerations were developed using Screw Theory. Likewise, the workspace and singularities analysis is performed to find the s...

Full description

Autores:

Tipo de recurso:

Fecha de publicación:

2018

Institución:

Universidad Tecnológica de Bolívar

Repositorio:

Repositorio Institucional UTB

Idioma:

eng

OAI Identifier:

oai:repositorio.utb.edu.co:20.500.12585/9200

Acceso en línea:

https://hdl.handle.net/20.500.12585/9200

Palabra clave:

Kinematic redundancy
Parallel robot
Performance Indexes
Screw theory
Singularity
Inverse kinematics
Redundancy
Redundant manipulators
Robotics
Screws
Sensitivity analysis
Kinematic redundancy
Parallel robots
Performance indices
Screw theory
Singularity
End effectors

Rights

restrictedAccess

License

http://creativecommons.org/licenses/by-nc-nd/4.0/