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.
Document type :
Conference papers
Liste complète des métadonnées
Contributor : Damien Chablat <>
Submitted on : Saturday, June 9, 2018 - 9:00:53 AM
Last modification on : Tuesday, March 26, 2019 - 9:25:22 AM
Document(s) archivé(s) le : Wednesday, September 26, 2018 - 3:34:21 PM


Files produced by the author(s)


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



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⟩



Record views


Files downloads