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Article

Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector

1
Department of Industrial Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy
2
Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Carrer Llorens i Artigas 4–6, 08028 Barcelona, Spain
*
Author to whom correspondence should be addressed.
This paper is an extended version of our paper “Position Analysis of a Class of n-RRR Planar Parallel Robots” presented at “3rd International Conference of IFToMM Italy (IFIT 2020)”, Naples, Italy, 9–11 September 2020.
Machines 2021, 9(1), 7; https://doi.org/10.3390/machines9010007
Received: 5 December 2020 / Revised: 4 January 2021 / Accepted: 6 January 2021 / Published: 11 January 2021
(This article belongs to the Special Issue Italian Advances on MMS)
Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.
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Keywords: parallel manipulators; reconfigurability; direct kinematics; singularities parallel manipulators; reconfigurability; direct kinematics; singularities
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MDPI and ACS Style

Marchi, T.; Mottola, G.; Porta, J.M.; Thomas, F.; Carricato, M. Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector. Machines 2021, 9, 7. https://doi.org/10.3390/machines9010007

AMA Style

Marchi T, Mottola G, Porta JM, Thomas F, Carricato M. Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector. Machines. 2021; 9(1):7. https://doi.org/10.3390/machines9010007

Chicago/Turabian Style

Marchi, Tommaso, Giovanni Mottola, Josep M. Porta, Federico Thomas, and Marco Carricato. 2021. "Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector" Machines 9, no. 1: 7. https://doi.org/10.3390/machines9010007

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