Kinematic Analysis of the 3-RPS-3-SPR Series-Parallel Manipulator

Abstract : This paper deals with the kinematic analysis and enumeration of singularities of the six degree-of-freedom 3-RPS-3-SPR series-parallel manipulator. The characteristic tetrahedron of the S-PM is established, whose degeneracy is bijectively mapped to the serial singularities of the S-PM. Study parametriza-tion is used to determine six independent parameters that characterize the S-PM and the direct kinematics problem is solved by mapping the transformation matrix between the base and the end-effector to a point in P 7. The inverse kinematics problem of the 3-RPS-3-SPR series-parallel manipulator amounts to find the location of three points on three lines. This problem leads to a minimal octic univariate polynomial with four quadratic factors.
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Soumis le : mercredi 22 août 2018 - 18:36:40
Dernière modification le : jeudi 6 septembre 2018 - 08:41:58

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Abhilash Nayak, Stéphane Caro, Philippe Wenger. Kinematic Analysis of the 3-RPS-3-SPR Series-Parallel Manipulator. Robotica, Cambridge University Press, In press, pp.1-27. 〈10.1017/S0263574718000826〉. 〈hal-01859984〉

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