Choosing Actuation Scheme for Optimal Performance of 3-DOF Planar Parallel Manipulators
This paper describes how the actuation scheme affects the size and shape of the workspace of 3RPR and 3PRR, which are the two popular planar parallel manipulators. This study helps in achieving the required singularity-free zones for a specific task by adopting a suitable actuation scheme without re...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-01-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1155/2012/171682 |