TY - GEN
T1 - Comparison of 3-RPS and 3-SPR parallel manipulators based on their maximum inscribed singularity-free circle
AU - Nayak, Abhilash
AU - Nurahmi, Latifah
AU - Wenger, Philippe
AU - Caro, Stéphane
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2017.
PY - 2017
Y1 - 2017
N2 - This paper dealswith the comparison of 3-RPS and 3-SPR parallelmanipulators based on their operation modes and singularity-free workspace. The operation modes of the 3-SPR manipulator are identified by using algebraic geometry. Those operation modes amount to the operation modes of the 3-RPS parallel manipulator, which has already been studied in the literature [1]. Then, the parallel singularities of the 3-SPR and 3-RPS parallel manipulators are analyzed in order to trace their singularity loci throughout their orientation workspace. An index, named Maximum Inscribed Circle Radius (MICR), is defined to compare the two manipulators under study. It is based on their maximum singularity-free workspace and the ratio between their circum-radius of the moving-platform to that of the base.
AB - This paper dealswith the comparison of 3-RPS and 3-SPR parallelmanipulators based on their operation modes and singularity-free workspace. The operation modes of the 3-SPR manipulator are identified by using algebraic geometry. Those operation modes amount to the operation modes of the 3-RPS parallel manipulator, which has already been studied in the literature [1]. Then, the parallel singularities of the 3-SPR and 3-RPS parallel manipulators are analyzed in order to trace their singularity loci throughout their orientation workspace. An index, named Maximum Inscribed Circle Radius (MICR), is defined to compare the two manipulators under study. It is based on their maximum singularity-free workspace and the ratio between their circum-radius of the moving-platform to that of the base.
KW - 3-RPS parallel manipulator
KW - 3-SPR parallel manipulator
KW - Maximum inscribed circle radius
KW - Operation modes
KW - Singularity analysis
UR - http://www.scopus.com/inward/record.url?scp=84988535733&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-44156-6_13
DO - 10.1007/978-3-319-44156-6_13
M3 - Conference contribution
AN - SCOPUS:84988535733
SN - 9783319441559
T3 - Mechanisms and Machine Science
SP - 121
EP - 130
BT - New Trends in Mechanism and Machine Science
A2 - Wenger, Philippe
A2 - Flores, Paulo
PB - Kluwer Academic Publishers
T2 - International Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016
Y2 - 20 September 2016 through 23 September 2016
ER -