Problems Regarding Singularities Analysis of a 3-RRR Parallel Mechanism

Florentin Buium; Cezar Duca; Dumitru Leohchi

doi:10.4028/www.scientific.net/AMM.658.569

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 658Problems Regarding Singularities Analysis of a...

Problems Regarding Singularities Analysis of a 3-RRR Parallel Mechanism

Abstract:

The paper presents some authors results regarding working quality inside workspace of a 3 DoF, 3 RRR planar parallel mechanism, used as parallel robot structure. Namely we deal with singularities avoidance inside workspace as is wide known in scientific literature this represents a major disadvantages of these mechanisms. To this purpose, the configuration determinant notion has been used as principal mechanism work parameter.

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Periodical:

Applied Mechanics and Materials (Volume 658)

Pages:

569-574

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.658.569

Citation:

Cite this paper

Online since:

October 2014

Authors:

Florentin Buium*, Cezar Duca, Dumitru Leohchi

Keywords:

Configuration, Determinant, Parallel Mechanism, Robot, Singularity, Workspace

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* - Corresponding Author

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