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Kinematic analysis of the 3-RPS-3-SPR series–parallel manipulator

Published online by Cambridge University Press:  24 August 2018

Abhilash Nayak ,
Stéphane Caro Open the ORCID record for Stéphane Caro [Opens in a new window]  and
Philippe Wenger
Abhilash Nayak
Affiliation:
École Centrale de Nantes, Laboratoire des Sciences du Numérique de Nantes (LS2N), Nantes, France
Stéphane Caro*
Affiliation:
Centre National de Recherche Scientifique (CNRS), Laboratoire des Sciences du Numérique de Nantes (LS2N), Nantes, France, UMR CNRS 6004 Emails: [email protected], [email protected]
Philippe Wenger
Affiliation:
Centre National de Recherche Scientifique (CNRS), Laboratoire des Sciences du Numérique de Nantes (LS2N), Nantes, France, UMR CNRS 6004 Emails: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper deals with the kinematic analysis and enumeration of singularities of the six degree-of-freedom 3-RPS-3-SPR series–parallel manipulator (S–PM). The characteristic tetrahedron of the S–PM is established, whose degeneracy is bijectively mapped to the serial singularities of the S–PM. Study parametrization is used to determine six independent parameters that characterize the S–PM and the direct kinematics problem is solved by mapping the transformation matrix between the base and the end-effector to a point in ℙ7. The inverse kinematics problem of the 3-RPS-3-SPR S–PM amounts to find the location of three points on three lines. This problem leads to a minimal octic univariate polynomial with four quadratic factors.

Keywords

Series–parallel ManipualtorsS–PMSingularitiesCharacteristic tetrahedronInverse kinematicsDirect kinematics
Type
Articles
Information
Robotica , Volume 37 , Special Issue 7: Computational Kinematics Conference, CK 2017 , July 2019 , pp. 1240 - 1266
Copyright
© Cambridge University Press 2018 

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