Issues of planning trajectory of parallel robots taking into account zones of singularity

International Conference on Mechanical Engineering, Automation and Control Systems 2017

机械制造;无线电电子学;计算机科学

Rybak, L.A.^1 ; Khalapyan, S.Y.^2 ; Gaponenko, E.V.^1

Belgorod State Technological University Named after VG Shukhov, Kostyukova St. 46, Belgorod

308012, Russia^1

Stary Oskol Technological Institute (Branch) N.a. A.A. Ugarov NUST MISiS, mkr. Makarenko 42, Stary Oskol

309516, Russia^2

关键词: Design characteristics;    Experimental verification;    Parallel robots;    Working space;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/327/4/042092/pdf
DOI  :  10.1088/1757-899X/327/4/042092

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

A method for determining the design characteristics of a parallel robot necessary to provide specified parameters of its working space that satisfy the controllability requirement is developed. The experimental verification of the proposed method was carried out using an approximate planar 3-RPR mechanism.