Details
| Original language | English |
|---|---|
| Pages | 63-72 |
| Number of pages | 10 |
| Publication status | Published - 2009 |
| Event | 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR) - London, United Kingdom (UK) Duration: 22 Jun 2009 → 24 Jun 2009 |
Conference
| Conference | 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR) |
|---|---|
| Abbreviated title | ReMAR |
| Country/Territory | United Kingdom (UK) |
| City | London |
| Period | 22 Jun 2009 → 24 Jun 2009 |
Abstract
This paper demonstrates the efficiency of kinematic redundancy used to increase the useable workspace of planar parallel mechanisms. As examples, we propose kinematically redundant schemes of the well known planar 3RRR and 3RPR mechanisms denoted as 3(P)RRR and 3(P)RPR. In both cases, a prismatic actuator is added allowing a usually fixed base joint to move linearly. Hence, reconfigurations can be performed selectively in order to avoid singularities and to affect the mechanisms' performance directly. Using an interval-based method the useable workspace, i.e. the singularity-free workspace guaranteeing a desired performance, is obtained. Due to the interval analysis any uncertainties can be implemented within the algorithm leading to practical and realistic results. It is shown that due to the additional prismatic actuator the useable workspace increases significantly. Several analysis examples clarify the efficiency of the proposed kinematically redundant mechanisms.
Keywords
- Reconfigurable robots
ASJC Scopus subject areas
- Computer Science(all)
- Computational Theory and Mathematics
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Software
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2009. 63-72 Paper presented at 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR), London, United Kingdom (UK).
Research output: Contribution to conference › Paper › Research › peer review
}
TY - CONF
T1 - Enlarging the useable workspace of planar parallel robots using mechanisms of variable geometry
AU - Kotlarski, Jens
AU - Abdellatif, H.
AU - Ortmaier, Tobias
AU - Heimann, Bodo
PY - 2009
Y1 - 2009
N2 - This paper demonstrates the efficiency of kinematic redundancy used to increase the useable workspace of planar parallel mechanisms. As examples, we propose kinematically redundant schemes of the well known planar 3RRR and 3RPR mechanisms denoted as 3(P)RRR and 3(P)RPR. In both cases, a prismatic actuator is added allowing a usually fixed base joint to move linearly. Hence, reconfigurations can be performed selectively in order to avoid singularities and to affect the mechanisms' performance directly. Using an interval-based method the useable workspace, i.e. the singularity-free workspace guaranteeing a desired performance, is obtained. Due to the interval analysis any uncertainties can be implemented within the algorithm leading to practical and realistic results. It is shown that due to the additional prismatic actuator the useable workspace increases significantly. Several analysis examples clarify the efficiency of the proposed kinematically redundant mechanisms.
AB - This paper demonstrates the efficiency of kinematic redundancy used to increase the useable workspace of planar parallel mechanisms. As examples, we propose kinematically redundant schemes of the well known planar 3RRR and 3RPR mechanisms denoted as 3(P)RRR and 3(P)RPR. In both cases, a prismatic actuator is added allowing a usually fixed base joint to move linearly. Hence, reconfigurations can be performed selectively in order to avoid singularities and to affect the mechanisms' performance directly. Using an interval-based method the useable workspace, i.e. the singularity-free workspace guaranteeing a desired performance, is obtained. Due to the interval analysis any uncertainties can be implemented within the algorithm leading to practical and realistic results. It is shown that due to the additional prismatic actuator the useable workspace increases significantly. Several analysis examples clarify the efficiency of the proposed kinematically redundant mechanisms.
KW - Reconfigurable robots
UR - http://www.scopus.com/inward/record.url?scp=70449094396&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:70449094396
SP - 63
EP - 72
T2 - 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR)
Y2 - 22 June 2009 through 24 June 2009
ER -