Computer Science & Electrical

Computer Science & Electrical

Planning the trajectory of the 3RRR manipulator

Pages: 8  ,  Volume: 41  ,  Issue: 1 , November   2019
Received: 04 Dec 2019  ,  Published: 05 December 2019
Views: 90  ,  Download: 38

Authors

# Author Name
1 Coulibaly Bourama
2 Marie Bernard Sidibé
3 Kya Abraham Berthé

Abstract

 

The manipulator provides a gain in terms of production rate compared to conventional serial manipulators. The trajectory planning made it possible to optimize the performance of the parallel 3RRR manipulator in its workspace. This planning was done on the octave software, based on the modeling of the manipulator using the inverse geometry method. Which allowed to determine the workspace of the robot. The working space of a parallel robot therefore depends on the different independent kinematic chains that connect the base to the effector (mobile platform).

Keywords

  • 3RRR parallel manipulator
  • trajectory planning
  • modeling
  • independent kinematic chains
  • Works pace
  • References

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