Translational parallel manipulators (TPMs) have attracted the interest of the scientific community since the appearance of the DELTA robot. Many TPM architectures have been proposed in the literature, and TPMs of 3-UPU type are among the most studied ones. Nevertheless, only some particular 3-UPU geometries have been studied in depth. The IRI 3-UPUs constitute a new family of recently proposed geometries which could be interesting for industrial applications. Here, the singularity analysis of these novel geometries is addressed with reference to the most promising IRI 3-UPU particular geometry.

Singularity Loci of a Particular IRI 3-UPU Geometry

Di Gregorio R.
Primo
2021

Abstract

Translational parallel manipulators (TPMs) have attracted the interest of the scientific community since the appearance of the DELTA robot. Many TPM architectures have been proposed in the literature, and TPMs of 3-UPU type are among the most studied ones. Nevertheless, only some particular 3-UPU geometries have been studied in depth. The IRI 3-UPUs constitute a new family of recently proposed geometries which could be interesting for industrial applications. Here, the singularity analysis of these novel geometries is addressed with reference to the most promising IRI 3-UPU particular geometry.
2021
978-3-030-60075-4
978-3-030-60076-1
978-3-030-60078-5
Constraint singularity, Instantaneous DOF, Singularity locus, Translational parallel manipulator
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/2431093
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