Abstract
Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by n actuated RRR chains connected to the base. We solve the direct kinematic problem for 4, 5 and 6-RRR mechanisms by using bilateration, a method that easily lends itself to generalization. Finally, we present the results from experimental tests that have been performed on a 5-RRR prototype.
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CITATION STYLE
Marchi, T., Mottola, G., Porta, J. M., Thomas, F., & Carricato, M. (2021). Position Analysis of a Class of n-RRR Planar Parallel Robots. In Mechanisms and Machine Science (Vol. 91, pp. 353–361). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-55807-9_40
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