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Chapitre D'ouvrage Année : 2012

Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation

Résumé

This paper deals with the optimal dynamics of the 3-RRR decoupled robot in which the linear displacements of the platform are decoupled from its orientation. The particularity of the 3-RRR decoupled robot is that an optimal choice of the leg's geometric parameters allows an unlimited platform rotation, which can be attractive for many industrial applications. However, a singular configuration is necessarily encountered during full platform rotation. In order to generate a stable motion in the presence of singularities, optimal dynamic conditions are disclosed. The suggested optimal conditions ensuring unlimited platform rotation are illustrated and validated by numerical simulations with ADAMS.
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Dates et versions

hal-00687694 , version 1 (25-06-2019)

Identifiants

Citer

Sébastien Briot, Vigen Arakelian, Damien Chablat, Philippe Wenger. Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation. Romansy 19 – Robot Design, Dynamics and Control, Springer, pp.109-116, 2012, CISM International Centre for Mechanical Sciences, 978-3-7091-1378-3. ⟨10.1007/978-3-7091-1379-0_14⟩. ⟨hal-00687694⟩
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