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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 Ramírez, José Luis
dc.creatorDuque Pardo, Jorge Eliécer
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
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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


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Universidad Tecnológica de Bolívar - 2017 Institución de Educación Superior sujeta a inspección y vigilancia por el Ministerio de Educación Nacional. Resolución No 961 del 26 de octubre de 1970 a través de la cual la Gobernación de Bolívar otorga la Personería Jurídica a la Universidad Tecnológica de Bolívar.