A study of Σ2 singularities in the 3-RPS Parallel Manipulator

Rohit Kalla; Latifah Nurahmi; Sandipan Bandyopadhyay; Stephane Caro; Philippe Wenger

A study of Σ² singularities in the 3-RPS Parallel Manipulator

Rohit Kalla, Latifah Nurahmi, Sandipan Bandyopadhyay, Stephane Caro, Philippe Wenger

Research output: Contribution to conference › Paper › peer-review

3 Citations (Scopus)

Abstract

This paper presents some analytical results related to the determination of the singular poses of the 3-RPS parallel manipulator at which it gains two degrees of freedom. The forward kinematic univariate (FKU) of the manipulator acquires a special structure at such a pose. All such poses have been identified in the closed-form, using a Stüdy-parameter representation of SE(3), for both the operation modes of the 3-RPS. These results are novel, to the best of the knowledge of the authors, and these have been verified using the traditional method, using the criterion of loss of rank of certain Jacobian matrices. The theoretical results have been illustrated with numerical examples.

Original language	English
Publication status	Published - 2015
Externally published	Yes
Event	2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015 - Kanpur, India Duration: 16 Dec 2015 → 19 Dec 2015

Conference

Conference	2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015
Country/Territory	India
City	Kanpur
Period	16/12/15 → 19/12/15

Keywords

3-RPS manipulator
Dy parameterisation
Gain of degree-of-freedom
Spatial parallel manipulators
Stü
Σ singularity

Cite this

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title = "A study of Σ2 singularities in the 3-RPS Parallel Manipulator",

abstract = "This paper presents some analytical results related to the determination of the singular poses of the 3-RPS parallel manipulator at which it gains two degrees of freedom. The forward kinematic univariate (FKU) of the manipulator acquires a special structure at such a pose. All such poses have been identified in the closed-form, using a St{\"u}dy-parameter representation of SE(3), for both the operation modes of the 3-RPS. These results are novel, to the best of the knowledge of the authors, and these have been verified using the traditional method, using the criterion of loss of rank of certain Jacobian matrices. The theoretical results have been illustrated with numerical examples.",

keywords = "3-RPS manipulator, Dy parameterisation, Gain of degree-of-freedom, Spatial parallel manipulators, St{\"u}, Σ singularity",

author = "Rohit Kalla and Latifah Nurahmi and Sandipan Bandyopadhyay and Stephane Caro and Philippe Wenger",

note = "Publisher Copyright: {\textcopyright} 2015, Indian Institute of Technology, IIT. All rights reserved.; 2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015 ; Conference date: 16-12-2015 Through 19-12-2015",

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TY - CONF

T1 - A study of Σ2 singularities in the 3-RPS Parallel Manipulator

AU - Kalla, Rohit

AU - Nurahmi, Latifah

AU - Bandyopadhyay, Sandipan

AU - Caro, Stephane

AU - Wenger, Philippe

PY - 2015

Y1 - 2015

N2 - This paper presents some analytical results related to the determination of the singular poses of the 3-RPS parallel manipulator at which it gains two degrees of freedom. The forward kinematic univariate (FKU) of the manipulator acquires a special structure at such a pose. All such poses have been identified in the closed-form, using a Stüdy-parameter representation of SE(3), for both the operation modes of the 3-RPS. These results are novel, to the best of the knowledge of the authors, and these have been verified using the traditional method, using the criterion of loss of rank of certain Jacobian matrices. The theoretical results have been illustrated with numerical examples.

AB - This paper presents some analytical results related to the determination of the singular poses of the 3-RPS parallel manipulator at which it gains two degrees of freedom. The forward kinematic univariate (FKU) of the manipulator acquires a special structure at such a pose. All such poses have been identified in the closed-form, using a Stüdy-parameter representation of SE(3), for both the operation modes of the 3-RPS. These results are novel, to the best of the knowledge of the authors, and these have been verified using the traditional method, using the criterion of loss of rank of certain Jacobian matrices. The theoretical results have been illustrated with numerical examples.

KW - 3-RPS manipulator

KW - Dy parameterisation

KW - Gain of degree-of-freedom

KW - Spatial parallel manipulators

KW - Stü

KW - Σ singularity

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M3 - Paper

AN - SCOPUS:85015235051

T2 - 2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015

Y2 - 16 December 2015 through 19 December 2015

ER -

A study of Σ² singularities in the 3-RPS Parallel Manipulator

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