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

dc.contributorGarcia L.
dc.contributorWightman P.
dc.contributorPercybrooks W.
dc.contributorCarrillo H.
dc.contributorQuintero C.
dc.creatorRodelo M.
dc.creatorVilla Ramírez, José Luis
dc.creatorDuque Pardo, Jorge Eliécer
dc.creatorYime E.
dc.date.accessioned2020-03-26T16:33:12Z
dc.date.available2020-03-26T16:33:12Z
dc.date.created2020-03-26T16:33:12Z
dc.date.issued2018
dc.identifier2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
dc.identifier9781538684641
dc.identifierhttps://hdl.handle.net/20.500.12585/9200
dc.identifier10.1109/CCRA.2018.8588123
dc.identifierUniversidad Tecnológica de Bolívar
dc.identifierRepositorio UTB
dc.identifier57205662246
dc.identifier55498635300
dc.identifier57205658483
dc.identifier22837432800
dc.description.abstractIn 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 smallest set of active joints for which the planar 3-RRR parallel robot remains equilibrated with respect to dexterous workspace, when failure occurs for one arbitrary active joint in a safe region. In order to accomplish this, sensitivity analysis for a classic trajectory and performance indexes for redundant planar 3-RRR parallel robot were obtained and compared with the same generation of non-redundant one, to validate the dexterity and manipulability of the mechanism. The simulation results show the maps of the dexterous workspace which the End-Effector can reach when there is redundant or non-redundant kinematics in the robot. © 2018 IEEE.
dc.languageeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation1 November 2018 through 3 November 2018
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.rightsAtribución-NoComercial 4.0 Internacional
dc.sourcehttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85060995887&doi=10.1109%2fCCRA.2018.8588123&partnerID=40&md5=d8e0b19f811f9c030ec656bedf4d6704
dc.source2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
dc.titleKinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory


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