Abstract
This paper shows how different working modes in a symmetrical 3RRR planar parallel manipulator can influence its maximum isotropic force capability maps. Herein, a new method to obtain analytically the maximum isotropic force with a prescribed moment is proposed. The proposed method is obtained from a general static model of the studied manipulator obtained by employing the screw theory and the Davies method as primary mathematical tools. Finally, some maximum isotropic force capability maps are obtained for different working modes in the studied manipulator in order to analyse their influence.
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Authors would like to thank to the Federal University of Santa Catarina which has made the present work possible.
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Mejia, L., Ponce, D., Herrera, J.C., Simas, H., Martins, D. (2018). Influence of the Working Mode on the Maximum Isotropic Force Capability Maps for a 3RRR Planar Parallel Manipulator. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds) Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol 54. Springer, Cham. https://doi.org/10.1007/978-3-319-67567-1_14
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DOI: https://doi.org/10.1007/978-3-319-67567-1_14
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