Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot
A circular search algorithm for solving the spatial boundary of the planar parallel robot is proposed which is based on the iterative search method,and its flexibility index is analyzed. A series of boundary points for the workspace of the 3- RRR planar robot are determined by using the circular sea...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.08.009 |
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| _version_ | 1841547950341226496 |
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| author | Cao Liya Cui Jiankun Song Yanan |
| author_facet | Cao Liya Cui Jiankun Song Yanan |
| author_sort | Cao Liya |
| collection | DOAJ |
| description | A circular search algorithm for solving the spatial boundary of the planar parallel robot is proposed which is based on the iterative search method,and its flexibility index is analyzed. A series of boundary points for the workspace of the 3- RRR planar robot are determined by using the circular search algorithm depending on the existence of the inverse solution of the system. The results are consistent with the results by using geometric method. The restricted,dimension consistent Jacobian matrix can be obtained by using the speed of the end effector to represent the movement of the mechanism,which can measure the flexibility of the planar parallel robot,and with help of the Matlab graphics,the new Jacobi condition number distribution in the working space is intuitively reflected. According to the obtained Jacobian matrix,the more accurate flexibility indexes can be got. |
| format | Article |
| id | doaj-art-1716c9bfd15f4a8480820592dc10cc09 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-1716c9bfd15f4a8480820592dc10cc092025-01-10T14:16:02ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140384229925297Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel RobotCao LiyaCui JiankunSong YananA circular search algorithm for solving the spatial boundary of the planar parallel robot is proposed which is based on the iterative search method,and its flexibility index is analyzed. A series of boundary points for the workspace of the 3- RRR planar robot are determined by using the circular search algorithm depending on the existence of the inverse solution of the system. The results are consistent with the results by using geometric method. The restricted,dimension consistent Jacobian matrix can be obtained by using the speed of the end effector to represent the movement of the mechanism,which can measure the flexibility of the planar parallel robot,and with help of the Matlab graphics,the new Jacobi condition number distribution in the working space is intuitively reflected. According to the obtained Jacobian matrix,the more accurate flexibility indexes can be got.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.08.009Parallel robotWorkspaceCircular search algorithmFlexibilityJacobian matrix |
| spellingShingle | Cao Liya Cui Jiankun Song Yanan Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot Jixie chuandong Parallel robot Workspace Circular search algorithm Flexibility Jacobian matrix |
| title | Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot |
| title_full | Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot |
| title_fullStr | Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot |
| title_full_unstemmed | Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot |
| title_short | Research of the Workspace Boundary Solving and Flexibility of 3-RRR Planar Parallel Robot |
| title_sort | research of the workspace boundary solving and flexibility of 3 rrr planar parallel robot |
| topic | Parallel robot Workspace Circular search algorithm Flexibility Jacobian matrix |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.08.009 |
| work_keys_str_mv | AT caoliya researchoftheworkspaceboundarysolvingandflexibilityof3rrrplanarparallelrobot AT cuijiankun researchoftheworkspaceboundarysolvingandflexibilityof3rrrplanarparallelrobot AT songyanan researchoftheworkspaceboundarysolvingandflexibilityof3rrrplanarparallelrobot |