Position and singularity analysis of a class of n-RRR planar parallel robots

Marchi, Tommaso (2020) Position and singularity analysis of a class of n-RRR planar parallel robots. [Laurea magistrale], Università di Bologna, Corso di Studio in Ingegneria meccanica [LM-DM270], Documento full-text non disponibile
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Parallel robots with configurable platform are a class of parallel robots in which the end-effector is a closed-loop flexible chain of rigid links. We have developed a 5-RRR planar mechanism that features a flexible 5-bar chain as end-effector. The angles between adjacent sides of this chain can be controlled through the actuated revolute joints attached to the base of the mechanism. This thesis consists in the geometrical design of n-RRR planar parallel robots and in the study of the Direct Kinematics for 4-, 5- and 6-RRR mechanisms using Bilateration, a method that greatly reduces the computational time for the kinematic analysis. The next step is the singularity analysis for the n-RRR robot architectures; finally, in the last part of this thesis we present the results from experimental tests that have been performed on a 5-RRR robot prototype.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Marchi, Tommaso
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
Data di discussione della Tesi
13 Marzo 2020

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