Abstract
This paper presents a comparison of the different planar 3RRR robot for machining application. The performance evaluation of different assembly modes and actuation schemas is based on the deflection estimation for the specific task, which is presented by round, square, rectangular and total target areas in the robot workspace. For deflections calculation the Virtual Joint Modeling method for parallel robots with passive joints is used. Optimal robot size parameters are obtained by means of genetic algorithms that according to the chosen performance indicators maximizes manipulator workspace that satisfies target accuracy level under the external forces applied to the end-effector. The obtained results are quite general and can be applied for any planar 3RRR robot since they were obtained for normalized parameters.
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