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2019 | OriginalPaper | Chapter

Parallelisms Between Planar and Spatial Tricept-Like Parallel Robots

Authors : Adrián Peidró, José M. Marín, Óscar Reinoso, Luis Payá, Arturo Gil

Published in: ROMANSY 22 – Robot Design, Dynamics and Control

Publisher: Springer International Publishing

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Abstract

This paper analyzes some parallelisms between 3UPS-PU Tricept-like parallel robots and their planar version, 2RPR-PR manipulators, in terms of forward kinematics and singularities. We show that, like 2RPR-PR manipulators, all 3UPS-PU robots with flat mobile platform have special singularities for which the mobile and fixed platforms are coplanar. These special singularities turn out to be eightfold solutions of the forward kinematics, their perturbations result in double deltoids and, unlike in 2RPR-PR manipulators, encircling them does not produce nonsingular transitions.

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Title: Parallelisms Between Planar and Spatial Tricept-Like Parallel Robots
Authors: Adrián Peidró
José M. Marín
Óscar Reinoso
Luis Payá
Arturo Gil
Publisher: Springer International Publishing
Book: ROMANSY 22 – Robot Design, Dynamics and Control
Print ISBN: 978-3-319-78962-0

Electronic ISBN: 978-3-319-78963-7

Copyright Year: 2019
DOI: https://doi.org/10.1007/978-3-319-78963-7_21