Influence of Design Parameters on the Singularities and Workspace of a 3-RPS Parallel Robot

Abstract : This paper presents the variations in the workspace, singularities and joint space with respect to the design parameter k, which is the ratio between the dimensions of the mobile platform to the dimensions of the base of the 3-RPS parallel mani-pulator. Also, the influence on the parasitic motions due to the design parameters is studied, which plays an important role in the selection of the manipulator for the desired task. The cylindrical algebraic decomposition method and Gröbner based computations are used to model the workspace and joint space with the parallel singularities in 2R1T and 3T projection spaces, where the orientation of the mobile platform is represented by using quaternions. These computations are useful to select the optimum value for the design parameter k such that the parasitic motions can be limited to specific values. Depending on the design parameter k, three different designs of the 3-RPS parallel robot are analyzed.
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Ranjan Jha, Damien Chablat, Luc Baron. Influence of Design Parameters on the Singularities and Workspace of a 3-RPS Parallel Robot. Transactions of the Canadian Society for Mechanical Engineering, Canadian Society for Mechanical Engineering, 2018. ⟨hal-01797575⟩

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