TY - GEN
T1 - Kinematic analysis of the 3-RPS cube parallel manipulator
AU - Nurahmi, Latifah
AU - Schadlbauer, Josef
AU - Husty, Manfred
AU - Wenger, Philippe
AU - Caro, Stéphane
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84961389573&partnerID=8YFLogxK
U2 - 10.1115/DETC201435488
DO - 10.1115/DETC201435488
M3 - Conference contribution
AN - SCOPUS:84961389573
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Y2 - 17 August 2014 through 20 August 2014
ER -