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Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity

Abhilash Nayak 1 Stéphane Caro 2, 1 Philippe Wenger 3, 1
2 RoMas - Robots and Machines for Manufacturing, Society and Services
LS2N - Laboratoire des Sciences du Numérique de Nantes
3 ReV - Robotique Et Vivant
LS2N - Laboratoire des Sciences du Numérique de Nantes
Abstract : The choice of a parallel manipulator for a particular application is a challenging task due to the existence of numerous designs that generate the same motion type. Hence, this paper attempts to compare a class of 3 degree-of-freedom parallel manipulators belonging to the 3-[PP]S family, for which each leg is confined to move in a plane with the first two joints generating a motion equivalent to two coplanar translations. Specifically, the 3-[PP]S parallel manipulators in which the planes are arranged in a Y-pattern are considered and are compared with respect to their singularity-free orientation workspace, parasitic motions within that workspace and complexity indices. Moreover, the comparison is done between the 3-[PP]S-Y family of manipulators for their different operation modes, with different actuation schemes and for different sets of design parameters. Two indices are used to quantify the singularity-free workspace and the parasitic motions of the manipulators at hand. Additionally, the non-dominated manipulator architectures with regard to their singularity-free regions and parasitic motions are highlighted thanks to a Pareto front. Finally, the Pareto-optimal solutions are ranked in ascending order of complexity.
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Abhilash Nayak, Stéphane Caro, Philippe Wenger. Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity. Mechanism and Machine Theory, Elsevier, 2018, 129, pp.293-315. ⟨10.1016/j.mechmachtheory.2018.08.001⟩. ⟨hal-01858955⟩

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