Determination of 3 − RPR Planar Parallel Robot Assembly Modes by Jacobian Matrix Factorization
نویسنده
چکیده
This paper presents a new approach for the determination of 3 − RPR planar parallel robot assembly modes. In this approach, the parallel robot is considered as a multi robot system. The segments are then regarded as serial robots moving a common load. The proposed approach is based on a parallel robot Jacobian matrix factorization. This factorization is an extension of global formalism developed by Fijany. This approach allows to determine several parallel robot Jacobian matrices, which are used for the assembly mode determination of a 3−RPR planar parallel robot. Effectiveness of the proposed method is demonstrated by the simulation. Key–Words: Parallel Robot, Kinematic Model, Jacobian Matrix, Assembly Modes.
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