Abstract
This paper deals with the optimal dynamics of the 3-RRR decoupled robot in which the linear displacements of the platform are decoupled from its orientation. The particularity of the 3-RRR decoupled robot is that an optimal choice of the leg’s geometric parameters allows an unlimited platform rotation, which can be attractive for many industrial applications. However, a singular configuration is necessarily encountered during full platform rotation. In order to generate a stable motion in the presence of singularities, optimal dynamic conditions are disclosed. The suggested optimal conditions ensuring unlimited platform rotation are illustrated and validated by numerical simulations with ADAMS.
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Briot, S., Arakelian, V., Chablat, D., Wenger, P. (2013). Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_14
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DOI: https://doi.org/10.1007/978-3-7091-1379-0_14
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
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