<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

Accuracy Of Positioning And Orientation Of Effector Of Planar Parallel Manipulator 3RRR

Faculty of Mechanical Engineering, Wrocław University of Technology, ul. Łukasiewicza 5, 50-371 Wrocław, Poland

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Parallel manipulator belongs to group of mechanisms with closed kinematic chains. This feature involves both advantages and disadvantages. The study examined...

Accuracy Of Positioning And Orientation Of Effector Of Planar Parallel Manipulator 3RRR

Published Online: Nov 07, 2015

Page range: 151 - 154

Received: Nov 25, 2014

Accepted: Oct 15, 2015

DOI: https://doi.org/10.1515/ama-2015-0025

Keywords
Accuracy, Planar Parallel Manipulator, Singularities

© 2015 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Accuracy Of Positioning And Orientation Of Effector Of Planar Parallel Manipulator 3RRR

Published Online: Nov 07, 2015

Page range: 151 - 154

Received: Nov 25, 2014

Accepted: Oct 15, 2015

DOI: https://doi.org/10.1515/ama-2015-0025

KeywordsAccuracy, Planar Parallel Manipulator, Singularities

© 2015 Bialystok University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Accuracy, Planar Parallel Manipulator, Singularities