02/06/2017

Mekanisme Robot - 3 SKS

(Robot Mechanism)

Latifah Nurahmi, PhD

!! latifah.nurahmi@gmail.com !!
C.250

First Term - 2016/2017

Jacobian

Vector of platform location Vector of actuated joints

Differentiating w.r.t time

Where:

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Serial singularity

Usually Jx is non-invertible or det(Jx)=0

Usually Jq is non-invertible or det(Jx)=0

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Serial singularity

• Jx is non-invertible or det(Jx)=0

What happen ?
• The motion of moving platform cannot be accomplished
• The robot can resist forces or moments in some directions
with zero actuator forces or moments
• The robot loses 1 or more dof
• Occur in boundary of the robot workspace

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Parallel singularity

• Jq is non-invertible or det(Jq)=0

What happen ?
• The moving platform can posses infinitesimal(shaky)
motion, when the actuators locked
• The robot gains 1 or more dof.
• Occur inside the robot workspace

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3-RRR manipulator

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Parallel singularity

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3-RRR manipulator

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Planar 2T Parallel Robot

• Fixed actuators

• Mobile actuators

• Revolute actuators

• Linear (prismatic) actuators

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Fixed linear actuated joints: PRR-PR

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Fixed linear actuated joints: PRR-PR

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Fixed linear actuated joints: PRR-PR

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Derive w.r.t time

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Parallel Singularities

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Serial Singularities

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Fixed Revolute actuated joints 5-Bar linkage

RRR – RR

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Inverse geometric model

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Working modes

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Assembly modes

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Parallel singularities

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Serial singularities

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Extensible legs

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