Abstract
The study deals with a novel parallel robot structure having 3DOF, which is actuated by linear actuators through geared linkages. The main advantages of this configuration are the possibility of avoiding the first type singular positions and the wide angular positions imposed to the links of the URU kinematic chains due to the RPRGR linkage. The goal of this paper is to determine and validate the kinematic behavior of the robotic structure. For the validation, MathWorks MATLAB was used for numerically evaluating various configurations and imposed trajectories.
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Oarcea, A., Tulcan, EG., Lovasz, EC. (2023). Kinematic Analysis of the 3-U(RPRGR)RU Parallel Robot. In: Laribi, M.A., Nelson, C.A., Ceccarelli, M., Zeghloul, S. (eds) New Advances in Mechanisms, Transmissions and Applications. MeTrApp 2023. Mechanisms and Machine Science, vol 124. Springer, Cham. https://doi.org/10.1007/978-3-031-29815-8_19
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DOI: https://doi.org/10.1007/978-3-031-29815-8_19
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