The Synthesis of Three-Degree-of-Freedom Planar Parallel Mechanisms with Revolute Joints (3-RRR) for an Optimal Singularity-Free Workspace

DOI10.1002/ROB.20013MaRDI QIDQ3022702zbMATH OpenOpenAlexFDO

Authors Marc Arsenault, Roger Boudreau

Publication date 30 June 2005

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.20013

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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(13)

• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories
• Real solutions of the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables: a numerical investigation
• Optimal synthesis for a continuous prescribed dexterity interval of a 3-dof parallel planar manipulator for different prescribed output workspaces
• A sequential method for the singularity-free workspace design of a three legged parallel robot
• Crank conditions and rotatability of 3-\(RRR\) planar parallel mechanisms
• Design strategies for the geometric synthesis of orthoglide-type mechanisms
• Dexterity measures and their use in quantitative dexterity comparisons
• 3-PRRR redundant planar parallel manipulator: inverse displacement, workspace and singularity analyses
• Non-singular assembly-mode changing motions for 3-R{\b P}R parallel manipulators
• The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity-free workspace
• Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms
• A three-dof robomech: architecture, optimum synthesis and introduction to compliant robomechs
• Experimental and numerical study on the semi-closed loop control of a planar parallel robot manipulator

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