Singularity Loci of a Particular IRI 3-UPU Geometry

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.