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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation
verfasst von : Sébastien Briot, Vigen Arakelian, Damien Chablat, Philippe Wenger
Erschienen in: Romansy 19 – Robot Design, Dynamics and Control
Verlag: Springer Vienna
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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.