Item request has been placed! ×
Item request cannot be made. ×
loading  Processing Request

Assembly Modes and Workspace Analysis of a 3-RRR Planar Manipulator

Item request has been placed! ×
Item request cannot be made. ×
loading   Processing Request
Read More Add to Saved list
  • Additional Information
    • Publication Information:
      MDPI AG, 2025.
    • Publication Date:
      2025
    • Collection:
      LCC:Mechanical engineering and machinery
    • Abstract:
      This paper examines the influence of the eight assembling modes of the 3-RRR planar manipulator on its workspace. The workspace is analyzed considering both first-type and second-type singularities. Understanding these issues is crucial in the process of designing such manipulators to avoid unfavorable cases. Additionally, a modular platform concept, suitable for experimental testing and informed by the numerical results presented here, is proposed. The outcomes of the experimental tests will be addressed in future work.
    • File Description:
      electronic resource
    • ISSN:
      2218-6581
    • Relation:
      https://www.mdpi.com/2218-6581/14/2/16; https://doaj.org/toc/2218-6581
    • Accession Number:
      10.3390/robotics14020016
    • Accession Number:
      edsdoj.709b0d6cfbc342d2beba6456590160df