Position analysis of a class of n-RRR planar parallel robots

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Título:	Position analysis of a class of n-RRR planar parallel robots
Autor:	Marchi, Tommaso; Mottola, Giovanni; Porta, Josep M. CSIC ORCID ; Thomas, Federico CSIC ORCID ; Carricato, Marco
Fecha de publicación:	2020
Editor:	Springer Nature
Citación:	Advances in Italian Mechanism Science: 353-361 (2020)
Serie:	Mechanisms and Machine Science 91
Resumen:	Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by n actuated RRR chains connected to the base. We solve the direct kinematic problem for 4, 5 and 6-RRR mechanisms by using bilateration, a method that easily lends itself to generalization. Finally, we present the results from experimental tests that have been performed on a 5-RRR prototype.
Descripción:	Trabajo presentado en el International Conference of IFToMM ITALY, celebrada en Nápoles (Italia) del 9 al 11 de septiembre de 2020
Versión del editor:	http://dx.doi.org/10.1007/978-3-030-55807-9_40
URI:	http://hdl.handle.net/10261/235641
DOI:	10.1007/978-3-030-55807-9_40
Identificadores:	doi: 10.1007/978-3-030-55807-9_40 issn: 2211-0984 isbn: 978-3-030-55807-9
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