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
UR - http://www.scopus.com/inward/record.url?scp=75949105691&partnerID=8YFLogxK
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 -