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Self-Motion of the 3-PPPS Parallel Robot with Delta-Shaped Base

Abstract : This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equi-lateral mobile platform and an equilateral-shaped base. Like the other 3-PPPS robots studied in the literature, it is proved that the parallel singularities depend only on the orientation of the end-effector. The quaternion parameters are used to represent the singularity surfaces. The study of the direct kinematic model shows that this robot admits a self-motion of the Cardanic type. This explains why the direct kinematic model admits an infinite number of solutions in the center of the workspace at the " home " position but has never been studied until now.
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Contributor : Damien Chablat <>
Submitted on : Saturday, June 9, 2018 - 9:00:53 AM
Last modification on : Tuesday, January 5, 2021 - 4:26:23 PM
Long-term archiving on: : Wednesday, September 26, 2018 - 3:34:21 PM


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Damien Chablat, E Ottaviano, Swaminath Venkateswaran. Self-Motion of the 3-PPPS Parallel Robot with Delta-Shaped Base. EuCoMeS 2018, Mechanisms and Machine Science, pp.317-324, 2018, 978-3-319-98019-5. ⟨10.1007/978-3-319-98020-1_37⟩. ⟨hal-01808551⟩



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