Academic literature on the topic '3R Manipulator'

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Journal articles on the topic "3R Manipulator"

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Paganelli, Davide. "The Ninth Homotopy Class of Spatial 3R Serial Regional Manipulators." Journal of Mechanical Design 129, no. 4 (2006): 445–48. http://dx.doi.org/10.1115/1.2437805.

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Singularities form surfaces in the jointspace of a serial manipulator. Paï and Leu (Paï and Leu, 1992, IEEE Trans. Rob. Autom., 8, pp. 545–559) introduced the important notion of generic manipulator, the singularity surfaces of which are smooth and do not intersect with each other. Burdick (Burdick, 1995, J. Mech. Mach. Theor., 30, pp. 71–89) proposed a homotopy-based classification method for generic 3R manipulators. Through this classification method, it was stated in Wenger, 1998, J. Mech. Des., 120, pp. 327–332 that there exist exactly eight classes of generic 3R manipulators. A counterexample to this classification is provided: a generic 3R manipulator belonging to none of the eight classes identified in (Wenger, 1998, J. Mech. Des., 120, pp. 327–332) is presented. The weak point of the proof given in (J. Mech. Des., 120, pp. 327–332) is highlighted. The counterexample proves the existence of at least nine homotopy classes of generic 3R manipulators. The paper points out two peculiar properties of the manipulator proposed as a counterexample, which are not featured by any manipulator belonging to the eight homotopy classes so far discovered. Eventually, it is proven in this paper that at most four branches of the singularity curve can coexist in the jointspace of a generic 3R manipulator and therefore at most eleven homotopy classes are possible.
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Kim, Jong Ho, Kyunghwan Choi, and In Gwun Jang. "Model-Predictive-Control-Based Time-Optimal Trajectory Planning of the Distributed Actuation Mechanism Augmented by the Maximum Performance Evaluation." Applied Sciences 11, no. 16 (2021): 7513. http://dx.doi.org/10.3390/app11167513.

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Trajectory planning for a redundant manipulator is a classic problem. However, because it is difficult to precisely evaluate its maximum performance, an optimization method has been typically used. In this study, a novel time-optimal trajectory planning method for a redundant manipulator is proposed using the model predictive control (MPC) augmented by the maximum performance evaluation (MPE). First, the optimization formulation is expressed to evaluate the maximum performance of the distributed-actuation-mechanism-based three-revolute-joint manipulator (DAM-3R), which has a high level of redundancy, and the joint-actuation-mechanism-based three-revolute-joint manipulator (JAM-3R) for comparison. The optimization is conducted by linking the multibody dynamics analysis module and the optimization module. For time-optimal trajectory planning, the MPC problem is then formulated using mathematical performance models for the DAM-3R and JAM-3R based on the MPE results, which are considered as the upper bound of the manipulator performance at each end-effector position. To verify the proposed method, a point-to-point task with no predefined path is investigated. The simulation results show that the working time of the DAM-3R is 19.1% less than that of the JAM-3R. Moreover, the energy consumption for the DAM-3R is 45.0% lower than that for the JAM-3R by optimally utilizing the higher redundancy of the DAM-3R. Thus, it can be concluded that the proposed method is effective for time-optimal trajectory planning for redundant manipulators.
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Lee, Hong-You, and Charles F. Reinholtz. "Inverse Kinematics of Serial-Chain Manipulators." Journal of Mechanical Design 118, no. 3 (1996): 396–404. http://dx.doi.org/10.1115/1.2826899.

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This paper proposes a unified method for the complete solution of the inverse kinematics problem of serial-chain manipulators. This method reduces the inverse kinematics problem for any 6 degree-of-freedom serial-chain manipulator to a single univariate polynomial of minimum degree from the fewest possible closure equations. It is shown that the univariate polynomials of 16th degree for the 6R, 5R-P and 4R-C manipulators with general geometry can be derived from 14, 10 and 6 closure equations, respectively, while the 8th and 4th degree polynomials for all the 4R-2P, 3R-P-C, 2R-2C, 3R-E and 3R-S manipulators can be derived from only 2 closure equations. All the remaining joint variables follow from linear equations once the roots of the univariate polynomials are found. This method works equally well for manipulators with special geometry. The minimal properties may provide a basis for a deeper understanding of manipulator geometry, and at the same time, facilitate the determination of all possible configurations of a manipulator with respect to a given end-effector position, the determination of the workspace and its subspaces with the different number of configurations, and the identification of singularity positions of the end-effector. This paper also clarifies the relationship between the three known solutions of the general 6R manipulator as originating from a single set of 14 equations by the first author.
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Wenger, P., D. Chablat, and M. Baili. "A DH-Parameter Based Condition for 3R Orthogonal Manipulators to Have Four Distinct Inverse Kinematic Solutions." Journal of Mechanical Design 127, no. 1 (2005): 150–55. http://dx.doi.org/10.1115/1.1828460.

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Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes to have four distinct IKS. We show that the transition between manipulators with two and four IKS is defined by the set of manipulators with a quadruple root of their inverse kinematics. The resulting condition is explicit and states that the last link length of the manipulator must be greater than a quantity that depends on three of its remaining DH parameters. This result is of interest for the design of new manipulators.
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Wenger, Philippe. "Cuspidal and noncuspidal robot manipulators." Robotica 25, no. 6 (2007): 677–89. http://dx.doi.org/10.1017/s0263574707003761.

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SUMMARYThis article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the regions of feasible paths in the workspace are defined. Then, several sufficient geometric conditions for a manipulator to be noncuspidal are enumerated and a general necessary and sufficient condition for a manipulator to be cuspidal is provided. An explicit DH-parameter-based condition for an orthogonal manipulator to be cuspidal is derived. The full classification of 3R orthogonal manipulators is provided and all types of cuspidal and noncuspidal orthogonal manipulators are enumerated. Finally, some facts about cuspidal and noncuspidal 6R manipulators are reported.
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Zhang, Liang, Yifan Wu, and Qi Zhang. "End Motion Path Analysis of Notched Variable Cross-section Flexible Manipulator Based on 3R Pseudo-Rigid Body Model." Journal of Physics: Conference Series 2477, no. 1 (2023): 012068. http://dx.doi.org/10.1088/1742-6596/2477/1/012068.

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Abstract A wire-driven planar curved notched flexible manipulator with variable cross-section is designed. Based on the Bernoulli Euler beam equation, the end track and rotation angle of the notched flexible manipulator with variable cross-section after applying force is deduced theoretically. In addition, the 3R pseudo rigid body model is used to calculate the end track and rotation angle, and ABAQUS finite element analysis software is used for motion simulation. Then, MATLAB is used for post-processing to obtain the end track of the flexible manipulator. By comparing the track of the 3R pseudo rigid body model with the ABAQUS simulation track, the relative error is obtained. The conclusion proves that the 3R pseudo rigid body model can effectively simulate the end track of a notched flexible manipulator with variable cross-section after bending, which expands a new method for solving the complex end motion problem of a flexible manipulator with variable cross-section, and also broadens the applicable structure of the 3R pseudo rigid body model.
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PANDA, S., D. MISHRA, B. B. BISWAL, and B. B. CHOUDHURY. "ROBOT WORKSPACE OPTIMIZATION USING A NOVEL MODIFIED DIFFERENTIAL EVOLUTIONARY TECHNIQUE." International Journal of Computational Methods 09, no. 03 (2012): 1250034. http://dx.doi.org/10.1142/s021987621250034x.

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Robotic manipulators with three-revolute (3R) family of positional configurations are very common in the industrial robots (IRs). The capability of a robot largely depends on the workspace (WS) of the manipulator apart from other parameters. With the constraints in mind, the optimization of the workspace is of prime importance in designing the manipulator. The problem is formulated as a constrained optimization problem with workspace volume as objective function. It is observed that the previous literature is confined to use of conventional soft computing algorithms only, while a new search algorithm is conceptualized and proposed to improve the computational time. The proposed algorithm differs from the conventional differential evolutionary (DE) algorithm only in the place of initialization and selection. The algorithm gives a good set of geometric parameters of manipulator within the applied constrained limits. The availability of such an algorithm for optimizing the workspace is important, especially for highly constrained environments. The efficiency of the proposed approach to optimize the workspace of 3R manipulators is exhibited through diverse cases.
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Long, G. L., J. M. McCarthy, and R. P. Paul. "Kinematic Modules for Singularity-Free Movement With Three Cartesian Freedoms." Journal of Mechanical Design 115, no. 2 (1993): 207–13. http://dx.doi.org/10.1115/1.2919179.

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The singularity conditions of three-revolute-joint serial chain manipulators are investigated by considering the motion of an arbitrary point on a terminal link. A distinction is made between singular configurations (every point on the terminal link is singular) and singular surfaces (a chosen point on the terminal link lies on a singular surface). Of particular interest is a class of 3R manipulators—each manipulator within this class forms a third-order screw system. We outline the structural requirements for this 3R class, and then determine the singularity conditions for several cases. For several manipulators within this 3R class, we describe a strategy to develop four-revolute-joint kinematic modules for singularity-free movement with three Cartesian freedoms. The algorithm to control the kinematic modules is simple and can be implemented in real-time.
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Liu, H., J. S. Dai, H. Y. Xu, and H. Li. "Virtual-mechanism-based analysis of cooperative manipulation." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 219, no. 3 (2005): 315–23. http://dx.doi.org/10.1243/095440604x16830.

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This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanism-based analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.
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Lu, Yaodong, and Vigen Arakelian. "Torque Minimization of Dynamically Decoupled 3R Spatial Serial Manipulators via Optimal Motion Generation." WSEAS TRANSACTIONS ON APPLIED AND THEORETICAL MECHANICS 18 (September 14, 2023): 161–71. http://dx.doi.org/10.37394/232011.2023.18.15.

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This paper proposes an analytically tractable solution for minimizing input torques in decoupled three-degrees-of-freedom spatial serial manipulators. The solution relies on the generation of motion using a «bang-bang» profile. The problem is solved in two stages. Firstly, the dynamic decoupling of the manipulator is accomplished through the redistribution of the moving masses and the relocation of one of the actuators. This leads to the decoupling of the equations of motion for different degrees of mobility. It is worth mentioning that this solution represents a symbiosis of two distinct approaches: the redistribution of link masses and the relocation of one of the manipulator actuators. This innovative approach to dynamic decoupling has not been previously proposed. At the second stage, the input torques of the actuators are reduced by generating motion profiles for the manipulator's links using the «bang-bang» law. Thus, thanks to the developed methodology, it becomes possible to reduce the energy consumption of high-speed manipulators by choosing the optimal planned motion of their links. To evaluate the effectiveness of this approach, numerical simulations are carried out using the ADAMS software. A comparative analysis of the trajectories generated by the fifth-order polynomial profile, widely used in industrial robots, and the «bang-bang» profile has been performed. The simulation results show act, the use of the «bang-bang» profile allows one to reduce the maximum values of the input torques. The developed technique allows designers to create high-speed manipulators featuring decoupled dynamics and diminished energy consumption.
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Dissertations / Theses on the topic "3R Manipulator"

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Baili, Maher. "Analyse et classification de manipulateurs 3R à axes orthogonaux." Phd thesis, Ecole centrale de nantes - ECN, 2004. http://tel.archives-ouvertes.fr/tel-00011685.

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Les travaux présentés dans cette thèse portent sur la classification et l'analyse des manipulateurs 3R à axes orthogonaux. Le but final est de proposer une classification exhaustive de ces manipulateurs selon leur topologie d'espace de travail. On définit une topologie d'espace de travail par un couple (nombre de points cusps, nombre de nœuds). Ces points particuliers apparaissent sur les surfaces de singularités. Notre étude se décompose en 4 parties. La première partie de ce travail est consacrée à une étude bibliographique de quelques notions liées à la cinématique et à la conception des manipulateurs sériels et plus particulièrement leurs singularités. Dans la deuxième partie de ce travail, nous établissons une classification exhaustive de toutes les topologies d'espace de travail d'une famille de manipulateurs 3R à axes orthogonaux telle que r3 = 0 en fonction des paramètres de DHm. Pour chaque topologie d'espace de travail, nous donnons toutes les propriétés cinématiques décrites dans la première partie. Une nouvelle condition nécessaire et suffisante pour qu'un manipulateur soit cuspidal (peut changer de posture sans franchir une singularité) a été établie sous forme d'une relation entre les paramètres de DHm. La troisième partie a été consacrée à étendre la classification réalisée dans la partie précédente à une famille de manipulateurs orthogonaux plus large (r3 <> 0). La quatrième partie a été consacrée à l'analyse des manipulateurs selon deux critères de performance. Le premier est relatif aux conditionnements maximum et moyen. Le second permet de calculer les proportions des régions à 2 et 4 solutions au MGI ainsi que tout le domaine accessible par rapport à une sphère centrée sur l'origine et englobant l'espace de travail. Les résultats proposés dans ce travail constituent une aide intéressante pour la conception de mécanismes innovants. En effet, en utilisant ce travail, nous pouvons choisir la topologie d'espace de travail la mieux adaptée à la tâche souhaitée. Nous venons ensuite ajuster les paramètres de DHm du manipulateur satisfaisant les critères proposés.
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Oliveira, Giovana Trindade da Silva. "Projeto ótimo de robôs manipuladores 3r considerando a topologia do espaço de trabalho." Universidade Federal de Uberlândia, 2012. https://repositorio.ufu.br/handle/123456789/14706.

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Fundação de Amparo a Pesquisa do Estado de Minas Gerais<br>Several studies have investigated the properties of the workspace of opened robotic chains (or serial) with the purpose of emphasizing its geometric and kinematic characteristics, to devise analytical algorithms and procedures for its design. The workspace of a robot manipulator is considered of great interest from theoretical and practical viewpoint. In classical applications in industry, manipulators need to pass through singularities in the joint space to change their posture. A 3-DOF manipulator can execute a non-singular change of posture if and only if there is at least one point in its workspace which has exactly three coincident solutions of the Inverse Kinematic Model (IKM). It is very difficult to express this condition directly from the kinematic model. Thus, in this work, the algebraic tool Gröbner basis is used to obtain an equation for splitting the regions with different types of 3R orthogonal manipulators. The determinant of Jacobian matrix of the direct kinematic model is considered equal to zero to obtain the other surfaces of separation. In addition, is presented a classification of 3R orthogonal manipulators related to the number of solutions in IKM, the number of cusp points and nodes. Some problems of multi-objective optimization are proposed to obtain the optimal design of robots. First considering a general case where the aim is to maximize the volume of the workspace, maximize the stiffness of the joint system and optimize the dexterity of the manipulator without the imposition of restrictions. Next, the optimization problem is subject to penalties that control the topology, making it possible to obtain solutions which satisfy the predetermined topologies. Solutions are presented for the case r3 null and r3 not null. The optimization problem is investigated by using a deterministic technique and two evolutionary algorithms. Some numerical applications are presented to show the efficiency of the proposed methodology.<br>Diversos estudos têm investigado as propriedades do espaço de trabalho de cadeias robóticas abertas com o objetivo de enfatizar suas características geométricas e cinemáticas, criar algoritmos analíticos e procedimentos para o seu projeto. O espaço de trabalho de um robô manipulador é considerado de grande interesse do ponto de vista teórico e prático. Em aplicações clássicas na indústria, manipuladores precisam passar por singularidades no espaço das juntas para mudar sua postura. Um manipulador com três graus de liberdade pode executar uma mudança de postura não singular se, e somente se, existe pelo menos um ponto em seu espaço de trabalho que tem exatamente três soluções coincidentes do Modelo Geométrico Inverso (MGI). É muito difícil expressar esta condição a partir do modelo cinemático. Assim, neste trabalho, a ferramenta algébrica base de Groebner é utilizada para obter uma das equações que separam as regiões que possuem diferentes tipos de manipuladores 3R ortogonais. O determinante da matriz Jacobiana do Modelo Geométrico Direto é considerado nulo para obter as demais superfícies de separação. Além disso, apresenta-se uma classificação dos manipuladores 3R ortogonais em relação ao número de soluções no MGI, o número de pontos de cúspides e o número de nós. Alguns problemas de otimização multi-objetivo são propostos visando obter o projeto ótimo de robôs. Primeiramente, considera-se o caso geral, cujo objetivo é maximizar o volume do espaço de trabalho, maximizar a rigidez do sistema de juntas e otimizar a destreza do manipulador sem a imposição de restrições. Em seguida, o problema de otimização é sujeito a penalidades que controlam a topologia, tornando possível a obtenção de soluções que obedeçam as topologias pré-estabelecidas. São apresentadas as soluções para o caso r3 nulo e para r3 não nulo. O problema de otimização é investigado aplicando uma técnica determinística e dois algoritmos evolutivos. Algumas aplicações numéricas são apresentadas para mostrar a eficiência da metodologia proposta.<br>Doutor em Engenharia Mecânica
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Rabindran, Dinesh 1978. "A differential-based parallel force/velocity actuation concept : theory and experiments." 2009. http://hdl.handle.net/2152/6899.

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Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator (PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets.<br>text
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Book chapters on the topic "3R Manipulator"

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Panda, Sumanta, Debadutta Mishra, and B. B. Biswal. "A Multi-objective Workspace Optimization of 3R Manipulator Using Modified PSO." In Swarm, Evolutionary, and Memetic Computing. Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-35380-2_12.

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Narayan, Jyotindra, Sashwata Banerjee, Durgarao Kamireddy, and Santosha K. Dwivedy. "Fuzzy Membership Functions in ANFIS for Kinematic Modeling of 3R Manipulator." In Handbook of Smart Materials, Technologies, and Devices. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-84205-5_26.

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Narayan, Jyotindra, Sashwata Banerjee, Durgarao Kamireddy, and Santosha K. Dwivedy. "Fuzzy Membership Functions in ANFIS for Kinematic Modeling of 3R Manipulator." In Handbook of Smart Materials, Technologies, and Devices. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-58675-1_26-1.

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Biswal, Bibhuti Bhusan, Sumanta Panda, and Debadutta Mishra. "Optimization for Workspace Volume of 3R Robot Manipulator Using Modified Differential Evolution." In Swarm, Evolutionary, and Memetic Computing. Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-17563-3_14.

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Tzivaridis, Markos, Vassilis C. Moulianitis, and Nikos A. Aspragathos. "Approximation of Inverse Kinematic Solution of a Metamorphic 3R Manipulator with Multilayer Perceptron." In Advances in Service and Industrial Robotics. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-19648-6_6.

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Wang, Dejin, Min Li, Fuyong Wang, Zhongxin Liu, and Zengqiang Chen. "Adaptive Control of 3R Manipulator in the Workspace Based on Radial Basis Function Neural Network." In Lecture Notes in Electrical Engineering. Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-6203-5_43.

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Husty, M. L., and J. Angeles. "Kinematic Isotropy in 3R Positioning Manipulators." In Advances in Robot Kinematics and Computational Geometry. Springer Netherlands, 1994. http://dx.doi.org/10.1007/978-94-015-8348-0_18.

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Wenger, Philippe, Maher Baili, and Damien Chablat. "Workspaces Classification of 3R Orthogonal Manipulators." In On Advances in Robot Kinematics. Springer Netherlands, 2004. http://dx.doi.org/10.1007/978-1-4020-2249-4_24.

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Husty, M., E. Ottaviano, and M. Ceccarelli. "A Geometrical Characterization of Workspace Singularities in 3R Manipulators." In Advances in Robot Kinematics: Analysis and Design. Springer Netherlands, 2008. http://dx.doi.org/10.1007/978-1-4020-8600-7_43.

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Benoit, Romain, Nicolas Delanoue, Sébastien Lagrange, and Philippe Wenger. "Guaranteed Detection of the Singularities of 3R Robotic Manipulators." In New Trends in Mechanism and Machine Science. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-09411-3_8.

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Conference papers on the topic "3R Manipulator"

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Ahmadpanah, Parham, Taha Charehjoo, Armin Ghanbarzadeh, and Esmaeil Najafi. "GA-Based Optimization of Control Strategies for a 3R Nonplanar Robotic Manipulator." In 2024 12th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2024. https://doi.org/10.1109/icrom64545.2024.10903520.

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Kaddar, Bassel, and Yazan Wassouf. "A Design and Classification Study for Some Families of 3R Manipulators with Geometric Simplifications." In 2025 7th International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE). IEEE, 2025. https://doi.org/10.1109/reepe63962.2025.10970880.

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Caro, Stephane, Philippe Wenger, and Fouad Bennis. "Robustness Study of Generic and Non-Generic 3R Positioning Manipulators." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84903.

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This paper presents a robustness study of 3R manipulators and aims at answering the following question: are generic manipulators more robust than non-generic manipulators? We exploit several properties specific to 3R manipulators such as singularities, cuspidality, homotopy classes, and path feasibility, in order to find some correlations between genericity and robustness concepts. For instance, we show that generic manipulators, close to non-generic ones in the space of geometric parameters, are not robust with respect to their homotopy class and to the feasibility of paths. Moreover, we notice that the dexterity and the accuracy of 3R manipulator do not depend on genericity.
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Nguyen, Dinh Quan, Sébastien Briot, and Philippe Wenger. "Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82208.

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Serial 3R orthogonal manipulators have been studied recently and it has been proved that they can exhibit good performances in term of workspace size and kinematic properties. The aim of this work is to analyze their dynamic performances, and compare them with anthropomorphic manipulators, which are very popular in industry. Static and dynamic analyses based on the evaluation of the maximal input torques required for moving the manipulator are achieved. It is shown that, as in kinematics, the dynamic performances of the serial 3R orthogonal manipulators are better.
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Suzuki, Takahiro, Toru Kinoshita, and Satoshi Gunji. "Analysis and control of 3R underactuated manipulator." In SICE 2008 - 47th Annual Conference of the Society of Instrument and Control Engineers of Japan. IEEE, 2008. http://dx.doi.org/10.1109/sice.2008.4655194.

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Kong, Xianwen. "Forward Displacement Analysis and Singularity Analysis of a 2-DOF 5R Spherical Parallel Manipulator." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87654.

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This paper deals with the forward displacement analysis and singularity analysis of a 2-DOF 5R spherical parallel manipulator. An alternative formulation of the kinematic equations of the 2-DOF spherical parallel manipulator is proposed. A formula is then derived to produce directly the unique current solution to the FDA of the 2-DOF spherical parallel manipulator. It is proved that the formula is associated with the same assembly mode and working mode as the reference configuration of the spherical parallel manipulator. Unlike other parallel manipulators, the 2-DOF 5R spherical parallel manipulator always undergoes self-motion in a Type 2 singular configuration, and the 3R leg of the 2-DOF spherical parallel manipulator also always undergoes self-motion in a Type 1 singular configuration.
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7

Zhao, Jing, Kailiang Zhang, and Xuebin Yao. "Fault Tolerant Motion Planning With Avoidance of the Sudden Change of Joint Velocity for Two Coordinating Redundant Manipulators." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84031.

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The sudden change of joint velocity in fault tolerant operation of two coordinating manipulators for joint-locking failures is studied. First, the difference between the joint velocity of original manipulator and that of reduced manipulator is defined as the sudden change in joint velocity. Then, a corresponding fault tolerant planning algorithm based on this criterion is proposed. At last, a simulation example of fault tolerant operations is implemented with two planar 3R manipulators. Simulation results show that this algorithm can effectively avoid the sudden change of joint velocity occurring in fault tolerant operation of two coordinating manipulators, strengthen their motion stability and so improve their kinematical and dynamic properties in fault tolerant operations.
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8

Gonza´lez-Barbosa, E. A., M. A. Gonza´lez-Palacios, L. A. Aguilera-Corte´s, and C. A. Bernal-Marti´nez. "A Novel Numerical Method to Solve the Inverse Kinematics of 3R Manipulators." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48436.

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A new numerical method to solve the inverse kinematics solution problem of serial manipulators is developed in this paper. The proposed method is known as Differential Evolution (DE), a novel and efficient numerical method which has been adapted to solve the inverse kinematics solution of 3R serial manipulator of general geometry. Besides, the paper contains the complete structuring for the implementation of this new case in SnAP, a comprehensive software package for synthesis, analysis and simulation of serial manipulators. The DE method is stable since it converges to the solution with any initial values, and it is not sensitive to the singular configurations of serial manipulators. Simulation results are presented to show the performance benefits of the proposed algorithm. Computational efficiency of the method is shown based on the results, as well as in comparison with traditional methods used in this problem.
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9

Fiorati, Stefano, Emiliano Mucchi, Raffaele Di Gregorio, and Giorgio Dalpiaz. "Experimental Validation and Updating of the Flexible Multibody Model of a Commercial 3R Planar Manipulator." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48202.

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Serial planar manipulators are diffusely used either as stand-alone machines or as part of more complex cells, and many commercial planar manipulators are available on the market. These commercial machines are mainly destined to accomplish low-speed tasks, and they are designed by taking into account their flexibility at most in the joints. Unfortunately, there are particular installation conditions in which even low-speed tasks can generate low-frequency vibrations that highly interfere with the task. This aspect is highlighted here with reference to a commercial 3R planar manipulator, and how to manage this problem is explained. In this sight, a flexible multibody model is developed where the flexibility of the frame, the manipulator is fixed to, is modeled over the flexibility of the joints, that is introduced as lumped stiffness. In particular, the flexible frame is included in the model by using a Component Mode Synthesis methodology, in which only the natural modes of vibration and the static constrain modes are accounted. The model is validated through an experimental campaign. The experimental tests consist of several modal analyses, together with acceleration and laser Doppler measurements in operational conditions. This methodology allows to provide a model which takes into account the installation conditions, and gives a tool for studying ad-hoc solutions which prevent the occurrence of low-frequency vibrations.
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10

Lee, Eric, and Constantinos Mavroidis. "An Algebraic Elimination Based Algorithm for Solving the Geometric Design Problem of Spatial 3R Manipulators." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57570.

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In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints when three precision points are specified is solved using an algebraic elimination method for the first time. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these three pre-specified locations. In this problem, six of the design parameters are set as free choices and their values are selected arbitrarily. For the specific case studied in this paper, a twelve-degree single variable polynomial is calculated that has eight roots that are the design solutions and the other four roots are extraneous solutions.
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