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Published in:
2013 | OriginalPaper | Chapter
Kinematics, Workspace and Singularities Analysis of the 3-UPU Wrist Manipulator
Authors : Ahmed Hachem Chebbi, Zouhaier Affi, Lotfi Romdhane
Published in: Design and Modeling of Mechanical Systems
Publisher: Springer Berlin Heidelberg
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This work deals with the kinematics and singularity of the spherical 3-UPU parallel manipulator. Firstly the structure of the spherical 3-UPU robot is presented. Then the forward kinematic model is developed where the roll, pitch and yaw angles describing the orientation of the mobile platform are given in a closed form. We prove that the forward kinematic problem has eight solutions. Based on the developed model, the singularity of the manipulator is analyzed and we show that the workspace of the spherical 3-UPU manipulator is free of singularity. To illustrate this study some simulations are given for a given 3-UPU architecture.