Assembly Modes and Workspace Analysis of a 3-<u>R</u>RR Planar Manipulator
Florentin Buium,
Ioan Doroftei,
Stelian Alaci
Affiliations
Florentin Buium
Mechanical Engineering, Mechatronics and Robotics Department, “Gheorghe Asachi” Technical University of Iasi, 43 D. Mangeron Blvd, 700050 Iasi, Romania
Ioan Doroftei
Mechanical Engineering, Mechatronics and Robotics Department, “Gheorghe Asachi” Technical University of Iasi, 43 D. Mangeron Blvd, 700050 Iasi, Romania
Stelian Alaci
Mechanics and Technologies Department, “Stefan cel Mare” University of Suceava, Universitatii Str. 13, 720229 Suceava, Romania
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.
