Study of planar three-degree-of-freedom 2-RRR parallel manipulators

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Abstract

Planar parallel robots are good candidates for microminiaturization into a microdevice. Fully-parallel planar robots have three kinematic chains (legs) connecting the moving platform to the fixed base. Functional workspace of planar fully-parallel robots is often limited because of interference among their mechanical components. Planar parallel robots with two kinematic chains connecting the moving platform to the base can be designed to reduce interference while still maintaining three-degree-of-freedom. This paper presents kinematics and singularity study of planar three-degree-of-freedom 2-RRR parallel manipulators. Forward displacement analysis of this type of robots is governed by a quadratic equation. The inverse problem is decomposed to yield up to four solutions. Singularity analysis reveals up to four singular orientations at each operation point (x,y) of the workspace, in addition to boundary singularities.

Original languageEnglish (US)
Pages (from-to)409-416
Number of pages8
JournalMechanism and Machine Theory
Volume38
Issue number5
DOIs
StatePublished - May 1 2003

All Science Journal Classification (ASJC) codes

  • Bioengineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

Keywords

  • Kinematics
  • Parallel robot
  • Planar parallel robot
  • Singularity

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