Graphical shapes of the 2nd type singularities of a 3-RR?R planar mechanism

7th International Conference on Advanced Concepts in Mechanical Engineering

Buium, F.^1 ; Duca, C.^1 ; Doroftei, I.^1 ; Leohchi, D.^1

Mechanical Engineering, Mechatronics and Robotics Department, Gheorghe Asachi Technical University of Iasi, Iasi, Romania^1

关键词: Dimensional parameters;    Mechanism designing;    Planar mechanism;    Planar parallel mechanisms;    Robot structures;    Singular configurations;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/147/1/012085/pdf
DOI  :  10.1088/1757-899X/147/1/012085

来源: IOP

【 摘 要 】

This paper intends to discuss about singularity curves of 2ndtype inside the workspace of a 3RRR planar parallel mechanism used as robot structure. In order to attain this goal we will use certain variation of the links dimensional parameters. This characterization of the mechanism singularities located inside mechanism workspace depends on the dimensional parameters and can be useful in mechanism designing accorded to some functional particularities in the sense that it can help in avoiding singular configurations.