Kinematics and singularity analysis of 3 degree-of-freedom planar parallel robotic manipulators

Abstract

This article analyzes 3 degree-of-freedom planar parallel robotic manipulator3-RRR (Revolute – Revolute – Revolute). For computation of control system of the robot in workspace, inverse kinematic and forward kinematic model of robot 3-RRR are firstly created. These models demonstrate the bond of active joints and positions on Descartes coordinates, the angle of end-effector. The matrices which are derived from kinematic models are called Jacobian matrices which then are applied to find out singularity configurations. Moreover, Jacobian matrices are helpful to calculate dynamic model which is used for computed torque control algorithm. The results of this paper are verified by simulation using Matlab/Simulink combined with SolidWorks, which are helpful for designing dimension and trajectory, analysing singularities avoidance, computing dynamic model and control algorithm of the robot manipulator.