Kinematic analysis of the 3-RPS cube parallel manipulator

Latifah Nurahmi, Josef Schadlbauer, Manfred Husty, Philippe Wenger, Stéphane Caro*

*Corresponding author for this work

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

4 Citations (Scopus)

Abstract

The 3-RPS Cube parallel manipulator, a three-degree-offreedom parallel manipulator initially proposed by Huang et al. in 1995, is analysed in this paper with an algebraic approach, namely Study kinematic mapping of the Euclidean group SE(3) and is described by a set of eight constraint equations. A primary decomposition is computed over the set of eight constraint equations and reveals that the manipulator has only one operation mode. Inside this operation mode, it turns out that the direct kinematics of the manipulator with arbitrary values of design parameters and joint variables, has sixteen solutions in the complex space. A geometric interpretation of the real solutions is given. The singularity conditions are obtained by deriving the determinant of the Jacobian matrix of the eight constraint equations. All the singular poses are mapped onto the joint space and are geometrically interpreted. By parametrizing the set of constraint equations under the singularity conditions, it is shown that the manipulator is in actuation singularity. The uncontrolled motion gained by the platform is also provided.

Original languageEnglish
Title of host publication38th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791846377
DOIs
Publication statusPublished - 2014
Externally publishedYes
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: 17 Aug 201420 Aug 2014

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B

Conference

ConferenceASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Country/TerritoryUnited States
CityBuffalo
Period17/08/1420/08/14

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