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Workspace and joint space analysis of the 3-RPS parallel robot

Abstract : The Accurate calculation of the workspace and joint space for 3 RPS parallel robotic manipulator is a highly addressed research work across the world. Researchers have proposed a variety of methods to calculate these parameters. In the present context a cylindrical algebraic decomposition based method is proposed to model the workspace and joint space. It is a well know feature that this robot admits two operation modes. We are able to find out the set in the joint space with a constant number of solutions for the direct kinematic problem and the locus of the cusp points for the both operation mode. The characteristic surfaces are also computed to define the uniqueness domains in the workspace. A simple 3-RPS parallel with similar base and mobile platform is used to illustrate this method.
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Conference papers
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Contributor : Damien Chablat <>
Submitted on : Monday, June 16, 2014 - 10:10:03 PM
Last modification on : Friday, April 10, 2020 - 5:23:04 PM
Document(s) archivé(s) le : Tuesday, September 16, 2014 - 11:20:12 AM


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  • HAL Id : hal-01006614, version 1


Damien Chablat, Ranjan Jha, Fabrice Rouillier, Guillaume Moroz. Workspace and joint space analysis of the 3-RPS parallel robot. ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2014, Buffalo, United States. pp.1-10. ⟨hal-01006614⟩



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