Virtual reality simulation and singularity analysis of 3-RRR translational parallel robot

Author

Bouzgou, Kamel ; Amar, Reda Hanifi Elhachemi ; Ahmed-foitih, Zoubir

Author_Institution

Lab. of Power Syst., Solar Energy & Autom. L.E.P.E.S.A, USTO, Oran, Algeria

fYear

2015

fDate

20-22 May 2015

Firstpage

61

Lastpage

66

Abstract

In this paper we propose a global study of the spatial 3-RRR parallel robot Delta based on geometric parameters of robot, the graphical presentation of this famous model is in this article, and to definekinds of singularity for the direct and inverse kinematics model. Simulation of results are presented by the combination of graphical virtual environment and mechanical design tools; CAD and VRML; both are interconnected by the plate-form of the Matlab software, we finalize this work by a control GUI.

Keywords

CAD; control engineering computing; digital simulation; end effectors; graphical user interfaces; manipulator dynamics; manipulator kinematics; mathematics computing; virtual reality languages; 3RRR translational parallel robot; CAD; GUI; Matlab software; VRML; end effector; kinematic chain; robot geometric parameter; singularity analysis; virtual reality simulation; Actuators; Analytical models; Legged locomotion; Mathematical model; Robot kinematics; Solid modeling; 3-RRR; Delta robot; Direct geometric model; Inverse kinematic model; Matlab; Singularity analysis; Spatial 3DOF; VRML;

fLanguage

English

Publisher

ieee

Conference_Titel

Innovative Computing Technology (INTECH), 2015 Fifth International Conference on

Conference_Location

Galcia

Type

conf

DOI

10.1109/INTECH.2015.7173367

Filename

7173367