On singularity avoidance and workspace enlargement of planar parallel manipulators using kinematic redundancy
Abstract
The present paper applies kinematic redundancy to a 3RRR planar parallel manipulator in order to reduce the effect of singularity loci within the workspace. The proposed approach consists of an additional prismatic actuator at the base allowing a selective reconfiguration. The relationship between the redundancy and the effective workspace is studied by introducing a performance index called operational effectiveness. It is demonstrated that the proposed simple-redundant scheme is able to outperform more complex approaches in the sense of singularity avoidance and operational effectiveness improvement.
Details
- Organisationseinheit(en)
-
Institut für Mechatronische Systeme
- Typ
- Aufsatz in Konferenzband
- Seiten
- 451-456
- Anzahl der Seiten
- 6
- Publikationsdatum
- 2007
- Publikationsstatus
- Veröffentlicht
- Peer-reviewed
- Ja
- ASJC Scopus Sachgebiete
- Angewandte Informatik, Maschinelles Sehen und Mustererkennung