Open AccessDetermination of the working area and singularity zones of the 3-RRR robot based on the non-uniform coverings method
Author(s) -
Larisa Rybak,
Е. В. Гапоненко,
Dmitry Malyshev,
Laxmidhar Behera
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1353/1/012057
Subject(s) - mechanism (biology) , gravitational singularity , singularity , jacobian matrix and determinant , computer science , rotation (mathematics) , process (computing) , range (aeronautics) , control theory (sociology) , mathematics , geometry , mathematical analysis , artificial intelligence , control (management) , engineering , physics , quantum mechanics , aerospace engineering , operating system
The paper considers the optimization algorithms applied to define the working area of a flat 3-RRR-mechanism. The system of inequalities considering the acceptable range of an argument of driving angles arcsine was used to define the working area. The condition of equality of Jacobian matrixes to zero for the first and second type of singularities was used to define special positions. The paper presents the results of modeling for eight combinations of rotation angles of driving pairs. The received results can be used to choose the geometrical parameters of a 3-RRR mechanism setting the boundaries of the working area through the technological process and to plan the movement trajectory of an output link to avoid uncontrollable mobility or jamming of the mechanism in special positions.