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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.identifier.citation2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
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.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.titleKinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory
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dc.source.event2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
dc.subject.keywordsKinematic redundancy
dc.subject.keywordsParallel robot
dc.subject.keywordsPerformance Indexes
dc.subject.keywordsScrew theory
dc.subject.keywordsInverse kinematics
dc.subject.keywordsRedundant manipulators
dc.subject.keywordsSensitivity analysis
dc.subject.keywordsKinematic redundancy
dc.subject.keywordsParallel robots
dc.subject.keywordsPerformance indices
dc.subject.keywordsScrew theory
dc.subject.keywordsEnd effectors
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

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