Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Isotropic wrench capability maps and isotropic velocity capability maps for a 3RRR planar parallel manipulator.
Submission Author:
Leonardo Mejia Rincon , SC
Co-Authors:
Leonardo Mejia Rincon, Daniel Ponce, Julio Cesar Frantz, Daniel Martins, Henrique Simas
Presenter: Leonardo Mejia Rincon
doi://10.26678/ABCM.COBEM2017.COB17-0539
Abstract
This paper presents a method to obtain analytically the maximum pure isotropic force and the maximum pure isotropic velocity in a 3RRR symmetrical planar parallel manipulator (SPPM). The proposed method is obtained from a general kineto-static model of the studied manipulator. Maximum pure isotropic force capability maps and maximum pure isotropic velocity capability maps are obtained for the studied manipulator by using different values for the desired moment and the desired angular velocity.
Keywords
Isotropic force capability, Isotropic velocity capability, Davies method, screw theory
