Abstract
The study deals with a parallel robot structure, which is actuated by three linear actuators using a geared linkage. The main advantages of this structures having geared linkages with linear actuation give the manipulator a large rotation angle with proper transmission angle while offering the possibility of avoiding the first type singularities. The main goal of this paper is to analyze the kinematic performance of a 3-R(RPRGR)RR planar parallel robot. By computing the performance indices, the whole space of the robot can be restrained, to leave the regions in which robot can move easily. MathWorks MATLAB was used for computing the performance indices and for visualization of the results.
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Acknowledgements
This article is supported by European Union’s Erasmus+ KA203 programme, project reference: 2019-1-RO01-KA203-06315 (“Development of mechatronics skills and innovative learning methods for Industry 4.0”).
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Oarcea, A., Luputi, A.M.F., Cobilean, V., Stan, SD., Lovasz, EC. (2022). Kinematic Performance Analysis of a 3-R(RPRGR)RR Planar Parallel Robot. In: Quaglia, G., Gasparetto, A., Petuya, V., Carbone, G. (eds) Proceedings of I4SDG Workshop 2021. I4SDG 2021. Mechanisms and Machine Science, vol 108. Springer, Cham. https://doi.org/10.1007/978-3-030-87383-7_50
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