Show simple item record

Kinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory

dc.contributor.editorGarcia L.
dc.contributor.editorWightman P.
dc.contributor.editorPercybrooks W.
dc.contributor.editorCarrillo H.
dc.contributor.editorQuintero C.
dc.creatorRodelo M.
dc.creatorVilla J.L.
dc.creatorDuque J.
dc.creatorYime E.
dc.date.accessioned2020-03-26T16:33:12Z
dc.date.available2020-03-26T16:33:12Z
dc.date.issued2018
dc.identifier.citation2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
dc.identifier.isbn9781538684641
dc.identifier.urihttps://hdl.handle.net/20.500.12585/9200
dc.description.abstractIn this paper, a complete kinematic analysis of a planar 3-RRR parallel robot is presented. The position through the direct and inverse kinematics, velocities, jacobians and accelerations were developed using Screw Theory. Likewise, the workspace and singularities analysis is performed to find the smallest set of active joints for which the planar 3-RRR parallel robot remains equilibrated with respect to dexterous workspace, when failure occurs for one arbitrary active joint in a safe region. In order to accomplish this, sensitivity analysis for a classic trajectory and performance indexes for redundant planar 3-RRR parallel robot were obtained and compared with the same generation of non-redundant one, to validate the dexterity and manipulability of the mechanism. The simulation results show the maps of the dexterous workspace which the End-Effector can reach when there is redundant or non-redundant kinematics in the robot. © 2018 IEEE.eng
dc.format.mediumRecurso electrónico
dc.format.mimetypeapplication/pdf
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.sourcehttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85060995887&doi=10.1109%2fCCRA.2018.8588123&partnerID=40&md5=d8e0b19f811f9c030ec656bedf4d6704
dc.titleKinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory
dcterms.bibliographicCitationPrajapati, J.M., Kinematics of parallel mechanism based robot manipulator with passive joints variables (2015) 2015 International Conference on Control, Automation and Robotics, Singapore, pp. 14-17
dcterms.bibliographicCitationFarhadmanesh, M., Abedloo, E., Molaei, A., Dynamics formulation and motion control of a planar parallel manipulator (2015) 3rd RSI International Conference on Robotics and Mechatronics (ICROM) Tehran 2015, pp. 205-209
dcterms.bibliographicCitationAssal, S.F.M., Non-singular 3-DOF planar parallel manipulator with high orientational capability for a hybrid machine tool (2013) 16th International Conference on Advanced Robotics (ICAR) Montevideo 2013, pp. 1-6
dcterms.bibliographicCitationWu, G., Bai, S., Hjrnet, P., On the stiffness of three/four degree-offreedom parallel pick-And-place robots with four identical limbs (2016) IEEE International Conference on Robotics and Automation (ICRA) Stockholm 2016, pp. 861-866
dcterms.bibliographicCitationMerlet, J.P., On the workspace of suspended cable-driven parallel robots 2016 (2016) IEEE International Conference on Robotics and Automation (ICRA) Stockholm, pp. 841-846
dcterms.bibliographicCitationOrdoez, N.A., Rodrguez, C.F., (2013) Real-Time Dynamic Control of A Stewart Platform"", Applied Mechanics and Materials, 390, pp. 398-402
dcterms.bibliographicCitationGomez Becerra, F.A., Blanco Ortega, A., Olivares, P.C.D., Garcia, B.V.H., Guzman, C., Valdivia ""design and control of a new parallel robot for the rehabilitation of the hip-knee (2018) IEEE Latin America Transactions, 16 (5), pp. 1314-1319. , May
dcterms.bibliographicCitationPile, J., Simaan, N., Modeling design and evaluation of a parallel robot for cochlear implant surgery (2014) IEEE/ASME Transactions on Mechatronics, 19 (6), pp. 1746-1755. , Dec
dcterms.bibliographicCitationGosselin, C., Schreiber, L.T., Kinematically redundant spatial parallel mechanisms for singularity avoidance and large orientational workspace (2016) IEEE Transactions on Robotics, 32 (2), pp. 286-300. , April
dcterms.bibliographicCitationKern Molina, J., Jamett Dominguez, M., Urrea Onate, C., Torres, H., Salamea ""development of a neural controller applied in a 5 DOF robot redundant (2014) IEEE Latin America Transactions, 12 (2), pp. 98-106. , March
dcterms.bibliographicCitationHeiran, F., Abadi, B.N.R., Taghvaei, S., Vatankhah, R., Kinematics and workspace analysis of a novel parallel mechanism with kinematic redundancy 2017 5th International Conference on Control (2017) Instrumentation, and Automation (ICCIA), Shiraz, pp. 325-330
dcterms.bibliographicCitationFeatherstone, R., (2008) Rigid Body Dynamics Algorithms, , Springer New York
dcterms.bibliographicCitationFeatherstone, R., Plucker basis vectors (2006) Proceedings 2006 IEEE International Conference on Robotics and Automation 2006, pp. 1892-1897. , ICRA 2006., Orlando, FL
dcterms.bibliographicCitationTsai, L., (1999) Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators, pp. 125-129. , John Wiley Sons, Inc., New York, NY
dcterms.bibliographicCitationGosselin, C.M., Sefrioui, J., Polynomial solutions for the direct kinematic problem of planar three-degree-of-freedom parallel manipulators Advanced Robotics 1991 Robots in Unstructured Environments, 91 ICAR., Fifth International Conference On, Pisa, Italy, 1991, 2, pp. 1124-1129
dcterms.bibliographicCitationCardona, M.N., Gutierrez ""dimensional synthesis of 3rrr planar parallel robots for well-conditioned workspace (2015) IEEE Latin America Transactions, 13 (2), pp. 409-415. , Feb
dcterms.bibliographicCitationAref, M.M., Gholami, P., Taghirad, H.D., Dynamic and sensitivity analysis of kntu cdrpm: A cable driven redundant parallel manipulator (2008) IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, Beijing 2008, pp. 528-533
dcterms.bibliographicCitationWu, G., Bai, S., Hjrnet, P., On the stiffness of three/four degree-offreedom parallel pick-And-place robots with four identical limbs (2016) IEEE International Conference on Robotics and Automation (ICRA) Stockholm 2016, pp. 861-866
dcterms.bibliographicCitationChen, Y., Liu, X., Chen, X., Dimension optimization of a planar 3-RRR parallel manipulator considering motion and force transmissibility (2013) IEEE International Conference on Mechatronics and Automation Takamatsu 2013, pp. 670-675
dcterms.bibliographicCitationLorenz, M., Brinker, J., Prause, I., Corves, B., Power manipulability analysis of redundantly actuated parallel kinematic manipulators with different types of actuators (2016) IEEE International Conference on Robotics and Automation (ICRA) Stockholm 2016, pp. 2129-2136
datacite.rightshttp://purl.org/coar/access_right/c_16ec
oaire.resourceTypehttp://purl.org/coar/resource_type/c_c94f
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
dc.source.event2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
dc.type.driverinfo:eu-repo/semantics/conferenceObject
dc.type.hasVersioninfo:eu-repo/semantics/publishedVersion
dc.identifier.doi10.1109/CCRA.2018.8588123
dc.subject.keywordsKinematic redundancy
dc.subject.keywordsParallel robot
dc.subject.keywordsPerformance Indexes
dc.subject.keywordsScrew theory
dc.subject.keywordsSingularity
dc.subject.keywordsInverse kinematics
dc.subject.keywordsRedundancy
dc.subject.keywordsRedundant manipulators
dc.subject.keywordsRobotics
dc.subject.keywordsScrews
dc.subject.keywordsSensitivity analysis
dc.subject.keywordsKinematic redundancy
dc.subject.keywordsParallel robots
dc.subject.keywordsPerformance indices
dc.subject.keywordsScrew theory
dc.subject.keywordsSingularity
dc.subject.keywordsEnd effectors
dc.rights.accessRightsinfo:eu-repo/semantics/restrictedAccess
dc.rights.ccAtribución-NoComercial 4.0 Internacional
dc.identifier.instnameUniversidad Tecnológica de Bolívar
dc.identifier.reponameRepositorio UTB
dc.description.notesThis Project is partially founded by Universidad Tecno-logica de Bolivar through the project Modelado dinámico y simulación de un robot paralelo 3RRR planar en condiciones sub-acuáticas para rehabilitación pediátrica de marcha.
dc.relation.conferencedate1 November 2018 through 3 November 2018
dc.type.spaConferencia
dc.identifier.orcid57205662246
dc.identifier.orcid55498635300
dc.identifier.orcid57205658483
dc.identifier.orcid22837432800


Files in this item

FilesSizeFormatView

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record

http://creativecommons.org/licenses/by-nc-nd/4.0/
Except where otherwise noted, this item's license is described as http://creativecommons.org/licenses/by-nc-nd/4.0/