Abstract
The 3-RRR Spherical Parallel Mechanism is an architecture that generates a Remote Center of Motion. The present work proposes to study the mechanism behavior by modifying its base configuration. A new mechanical architecture concept is introduced to modify the mechanism base configuration. This reconfiguration is then described by a new design parameter that issues a new kinematic model. The influence of this parameter is studied on two different aspects: the mechanism workspace and kinematic performances. Several observations are finally made on the mechanism new behavior.
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Acknowledgement
The present work has been supported by a collaboration project between Taiwan’s MOST (107-2911-I-008-505) and France’s CNRS (PRC2142).
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Essomba, T., Laribi, M.A., Hsu, Y., Zeghloul, S. (2019). Kinematic Analysis of a 3-RRR Spherical Parallel Mechanism with Configurable Base. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_13
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DOI: https://doi.org/10.1007/978-3-030-00365-4_13
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