Resolution of a 3 RRR planar parallel mechanism

R. Yáñez-Valdez; M. Ruiz-Torres; E. Morales-Sánchez; E. Castillo-Castañeda; J. A. Briones-León

doi:10.4028/www.scientific.net/AMM.15.61

Resolution of a 3 RRR planar parallel mechanism

R. Yáñez-Valdez, M. Ruiz-Torres, E. Morales-Sánchez, E. Castillo-Castañeda, J. A. Briones-León

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper proposes a methodology to analyze the resolution and variations in the positions of the 3RRR planar parallel mechanism driven by electrical actuators of discrete steps. This methodology consists of graphing and plotting all the possible combinations of angular movements of a three legs mechanism. This generates a "cloud of points" that will be the boundary of the control limits, so as to find the closest trajectory to a straight line. It was found that resolution, accuracy, and the approximation error improves when micro-steps are employed. For this purpose, it is necessary to determine direct and inverse kinematics, in order to calculate the workspace. A prototype was built to validate the methodology proposed.

Original language	English
Title of host publication	Electromechanical and Systems Engineering
Pages	61-66
Number of pages	6
DOIs	https://doi.org/10.4028/www.scientific.net/AMM.15.61
State	Published - 2009
Externally published	Yes
Event	5th International Congress of Electromechanical and Systems Engineering - Mexico City, Mexico Duration: 10 Nov 2008 → 14 Nov 2008

Publication series

Name	Applied Mechanics and Materials
Volume	15
ISSN (Print)	1660-9336
ISSN (Electronic)	1662-7482

Conference

Conference	5th International Congress of Electromechanical and Systems Engineering
Country/Territory	Mexico
City	Mexico City
Period	10/11/08 → 14/11/08

Keywords

Micro-steps
Planar parallel mechanism
Resolution

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10.4028/www.scientific.net/AMM.15.61

Cite this

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title = "Resolution of a 3 RRR planar parallel mechanism",

abstract = "This paper proposes a methodology to analyze the resolution and variations in the positions of the 3RRR planar parallel mechanism driven by electrical actuators of discrete steps. This methodology consists of graphing and plotting all the possible combinations of angular movements of a three legs mechanism. This generates a {"}cloud of points{"} that will be the boundary of the control limits, so as to find the closest trajectory to a straight line. It was found that resolution, accuracy, and the approximation error improves when micro-steps are employed. For this purpose, it is necessary to determine direct and inverse kinematics, in order to calculate the workspace. A prototype was built to validate the methodology proposed.",

keywords = "Micro-steps, Planar parallel mechanism, Resolution",

author = "R. Y{\'a}{\~n}ez-Valdez and M. Ruiz-Torres and E. Morales-S{\'a}nchez and E. Castillo-Casta{\~n}eda and Briones-Le{\'o}n, {J. A.}",

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language = "Ingl{\'e}s",

isbn = "0878493093",

series = "Applied Mechanics and Materials",

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booktitle = "Electromechanical and Systems Engineering",

note = "5th International Congress of Electromechanical and Systems Engineering ; Conference date: 10-11-2008 Through 14-11-2008",

}

Yáñez-Valdez, R, Ruiz-Torres, M, Morales-Sánchez, E , Castillo-Castañeda, E & Briones-León, JA 2009, Resolution of a 3 RRR planar parallel mechanism. in Electromechanical and Systems Engineering. Applied Mechanics and Materials, vol. 15, pp. 61-66, 5th International Congress of Electromechanical and Systems Engineering, Mexico City, Mexico, 10/11/08. https://doi.org/10.4028/www.scientific.net/AMM.15.61

TY - GEN

T1 - Resolution of a 3 RRR planar parallel mechanism

AU - Yáñez-Valdez, R.

AU - Ruiz-Torres, M.

AU - Morales-Sánchez, E.

AU - Castillo-Castañeda, E.

AU - Briones-León, J. A.

PY - 2009

Y1 - 2009

N2 - This paper proposes a methodology to analyze the resolution and variations in the positions of the 3RRR planar parallel mechanism driven by electrical actuators of discrete steps. This methodology consists of graphing and plotting all the possible combinations of angular movements of a three legs mechanism. This generates a "cloud of points" that will be the boundary of the control limits, so as to find the closest trajectory to a straight line. It was found that resolution, accuracy, and the approximation error improves when micro-steps are employed. For this purpose, it is necessary to determine direct and inverse kinematics, in order to calculate the workspace. A prototype was built to validate the methodology proposed.

AB - This paper proposes a methodology to analyze the resolution and variations in the positions of the 3RRR planar parallel mechanism driven by electrical actuators of discrete steps. This methodology consists of graphing and plotting all the possible combinations of angular movements of a three legs mechanism. This generates a "cloud of points" that will be the boundary of the control limits, so as to find the closest trajectory to a straight line. It was found that resolution, accuracy, and the approximation error improves when micro-steps are employed. For this purpose, it is necessary to determine direct and inverse kinematics, in order to calculate the workspace. A prototype was built to validate the methodology proposed.

KW - Micro-steps

KW - Planar parallel mechanism

KW - Resolution

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U2 - 10.4028/www.scientific.net/AMM.15.61

DO - 10.4028/www.scientific.net/AMM.15.61

M3 - Contribución a la conferencia

SN - 0878493093

SN - 9780878493098

T3 - Applied Mechanics and Materials

SP - 61

EP - 66

BT - Electromechanical and Systems Engineering

T2 - 5th International Congress of Electromechanical and Systems Engineering

Y2 - 10 November 2008 through 14 November 2008

ER -

Resolution of a 3 RRR planar parallel mechanism

Abstract

Publication series

Conference

Keywords

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