RESEARCH PAPER
Accuracy Of Positioning And Orientation Of Effector Of Planar Parallel Manipulator 3RRR
1
Faculty of Mechanical Engineering, Wrocław University of Technology, ul. Łukasiewicza 5, 50-371 Wrocław, Poland
Submission date: 2014-11-25
Acceptance date: 2015-10-15
Online publication date: 2015-11-07
Publication date: 2015-09-01
Acta Mechanica et Automatica 2015;9(3):151-154
KEYWORDS
ABSTRACT
Parallel manipulator belongs to group of mechanisms with closed kinematic chains. This feature involves both advantages and disadvantages. The study examined the issue of accuracy of a planar system with three degrees of freedom, with revolute pairs, showing the effect of errors of the drives settings on effector positioning deviation. Enclosed is a numerical example for which analyzed the deviation in motion manipulator when going through the singular configuration. Based on the analysis was determined the area around the singular positions for which to obtain the orientation of the assumed accuracy is impossible.
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| eISSN: | 2300-5319 |
| ISSN: | 1898-4088 |
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