z-logo
open-access-imgOpen Access
Increasing the effective workspace of the planar 3-RRR mechanism by using kinematic redundancy
Author(s) -
К. Г. Эрастова
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/747/1/012083
Subject(s) - workspace , kinematics , gravitational singularity , planar , redundancy (engineering) , singularity , mechanism (biology) , closeness , computer science , control theory (sociology) , topology (electrical circuits) , mathematics , geometry , artificial intelligence , robot , physics , mathematical analysis , classical mechanics , control (management) , combinatorics , computer graphics (images) , quantum mechanics , operating system
A significant issue of parallel mechanisms is the existence of singularities where the end-effector can lose their mobility or cannot be controlled. The closeness to singularities affects the performance of the mechanism, for example, the actuation efforts increase, thus reducing the effective workspace of the mechanism. Kinematic redundancy can be used for avoiding the singularity and increase the effective workspace. The approach is considered on the example of a planar 3-RRR mechanism.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.
Having issues? You can contact us here