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.
Type de document :
Communication dans un congrès
European Conference on Mechanism Science, Sep 2018, Aachen, Germany
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https://hal.archives-ouvertes.fr/hal-01808551
Contributeur : Damien Chablat <>
Soumis le : samedi 9 juin 2018 - 09:00:53
Dernière modification le : vendredi 20 juillet 2018 - 16:24:51
Document(s) archivé(s) le : mercredi 26 septembre 2018 - 15:34:21

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  • HAL Id : hal-01808551, version 1
  • ARXIV : 1806.03951

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Damien Chablat, E Ottaviano, Swaminath Venkateswaran. Self-Motion of the 3-PPPS Parallel Robot with Delta-Shaped Base. European Conference on Mechanism Science, Sep 2018, Aachen, Germany. 〈hal-01808551〉

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