Abstract:
This work analyzed the influence of interference on a planar 3 RRR mechanism workspace. The optimum structure was attained using the avoiding interference design methodology theory. According to its kinematic model, the conditions when interferences happen were given. Based on that, the workspace volume function with link shape ratios α1 and α2 were calculated and plotted. By numerical computations, the total workspace and the interference distributions of the optimum mechanism were presented. In addition, its singularities were studied in an analytical way. This work solved the problem of interference minimization, and optimized the workspace of the parallel manipulator. This methodology can be applied to other planar mechanisms in the future.