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Parallelisms Between Planar and Spatial Tricept-Like Parallel Robots

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ROMANSY 22 – Robot Design, Dynamics and Control

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 584))

Abstract

This paper analyzes some parallelisms between 3UPS-PU Tricept-like parallel robots and their planar version, 2RPR-PR manipulators, in terms of forward kinematics and singularities. We show that, like 2RPR-PR manipulators, all 3UPS-PU robots with flat mobile platform have special singularities for which the mobile and fixed platforms are coplanar. These special singularities turn out to be eightfold solutions of the forward kinematics, their perturbations result in double deltoids and, unlike in 2RPR-PR manipulators, encircling them does not produce nonsingular transitions.

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Acknowledgments

This work was supported by the Spanish Ministry of Education, Culture, and Sport (grant No. FPU13/00413) and the Spanish Ministry of Economy, Industry, and Competitiveness (project No. DPI 2016-78361-R).

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Authors and Affiliations

  1. Miguel Hernández University, 03202, Elche, Spain

    Adrián Peidró, José M. Marín, Óscar Reinoso, Luis Payá & Arturo Gil

Authors
  1. Adrián Peidró
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  2. José M. Marín
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  3. Óscar Reinoso
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  4. Luis Payá
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  5. Arturo Gil
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Corresponding author

Correspondence to Adrián Peidró .

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Editors and Affiliations

  1. Inst Natl des Sciences Appliquée (INSA), Rennes Cedex 7, France

    Vigen Arakelian

  2. LS2N - UMR CNRS 6004, Lab. des Sciences du Numérique de Nantes, Nantes Cedex 03, France

    Philippe Wenger

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Peidró, A., Marín, J.M., Reinoso, Ó., Payá, L., Gil, A. (2019). Parallelisms Between Planar and Spatial Tricept-Like Parallel Robots. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_21

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