On singularity avoidance and workspace enlargement of planar parallel manipulators using kinematic redundancy

verfasst von

Jens Kotlarski, H. Abdellatif, Bodo Heimann

Abstract

The present paper applies kinematic redundancy to a 3RRR planar parallel manipulator in order to reduce the effect of singularity loci within the workspace. The proposed approach consists of an additional prismatic actuator at the base allowing a selective reconfiguration. The relationship between the redundancy and the effective workspace is studied by introducing a performance index called operational effectiveness. It is demonstrated that the proposed simple-redundant scheme is able to outperform more complex approaches in the sense of singularity avoidance and operational effectiveness improvement.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

451-456

Anzahl der Seiten

6

Publikationsdatum

2007

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Angewandte Informatik, Maschinelles Sehen und Mustererkennung