Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation
This paper deals with the optimal dynamics of the 3-RRR decoupled robot in which the linear displacements of the platform are decoupled from its orientation. The particularity of the 3-RRR decoupled robot is that an optimal choice of the leg’s geometric parameters allows an unlimited platform rotation, which can be attractive for many industrial applications. However, a singular configuration is necessarily encountered during full platform rotation. In order to generate a stable motion in the presence of singularities, optimal dynamic conditions are disclosed. The suggested optimal conditions ensuring unlimited platform rotation are illustrated and validated by numerical simulations with ADAMS.
KeywordsParallel Manipulator Parallel Robot Stable Motion Input Torque Full Rotation
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