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Published in:
2009 | OriginalPaper | Chapter
Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot
Authors : A-H. Chebbi, Z. Affi, L. Romdhane
Published in: Computational Kinematics
Publisher: Springer Berlin Heidelberg
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This paper deals with the kinetostatic and singularity analyses of the 3- UPU parallel robot. The kinetostatic model was derived analytically and two types of singularity were identified, i.e., architecture singularity and configuration singulariy. First, the actuators forces needed to balance an external load on the platform were calculated, then and thanks to its analytical form, the singularity of the kinetostatic model was studied as a function of the different design parameters of the robot.