Comparison of 3-RPS and 3-SPR parallel manipulators based on their maximum inscribed singularity-free circle

Abhilash Nayak*, Latifah Nurahmi, Philippe Wenger, Stéphane Caro

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationNew Trends in Mechanism and Machine Science
Subtitle of host publicationTheory and Industrial Applications
EditorsPhilippe Wenger, Paulo Flores
PublisherKluwer Academic Publishers
Pages121-130
Number of pages10
ISBN (Print)9783319441559
DOIs
Publication statusPublished - 2017
EventInternational Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016 - Nantes, France
Duration: 20 Sept 201623 Sept 2016

Publication series

NameMechanisms and Machine Science
Volume43
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

ConferenceInternational Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016
Country/TerritoryFrance
CityNantes
Period20/09/1623/09/16

Keywords

  • 3-RPS parallel manipulator
  • 3-SPR parallel manipulator
  • Maximum inscribed circle radius
  • Operation modes
  • Singularity analysis

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