J. Kotlarski, H. Abdellatif, and B. Heimann (Germany)
parallel manipulators, kinematic redundancy, singularity avoidance, workspace enlargement.
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 ap proach consists of an additional prismatic actuator at the base allowing a selective reconfiguration. The relation ship between the redundancy and the effective workspace is studied by introducing a performance index called oper ational effectiveness. It is demonstrated that the proposed simple-redundant scheme is able to outperform more com plex approaches in the sense of singularity avoidance and operational effectiveness improvement.
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