A geometric description of 3 RRR parallel robots which composed by a mobile platform (MP) and three RRR serial chains that join it to a fixed base (Fig. 1). Each RRR chain is a serial chain composed by three rotational R joints.
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For clearly understanding the provided code, it is highly recommended to read the following book/papers
Visit https://doi.org/10.1007/978-3-031-53582-6_3
Visit https://doi.org/10.1109/ICRoM60803.2023.10412355
Visit https://doi.org/10.1109/ICRoM57054.2022.10025339
Send any queries to Reza Nopour ([email protected]).
Nopour, R., M. M. Aghdam, and A. Taghvaeipour. "Nonlinear Analysis of Flexible Parallel Mechanisms Through Bézier-Based Integration." Nonlinear Approaches in Engineering Application: Automotive Engineering Problems. Cham: Springer Nature Switzerland, 2024. 105-131.
Nopour, Reza, Afshin Taghvaeipour, and Mohammad Mohammadi Aghdam. "Neural network-based co-simulation for enhanced analysis of 3RRR parallel robot." 2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2023.
Hollari, Reza Nopour, et al. "Novel co-simulation technique in the flexible analysis of a parallel robot." 2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2022.