Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation

  • Sébastien Briot
  • Vigen Arakelian
  • Damien Chablat
  • Philippe Wenger
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)


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.


Parallel Manipulator Parallel Robot Stable Motion Input Torque Full Rotation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Sébastien Briot
    • 1
  • Vigen Arakelian
    • 2
  • Damien Chablat
    • 1
  • Philippe Wenger
    • 1
  1. 1.Institut de Recherche en Communications et Cybernétique de NantesNantesFrance
  2. 2.MInstitut National des Sciences Appliquées de Rennes (INSA)RennesFrance

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