Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters

Abhilash Nayak (1) , Thomas Stigger (2) , Manfred Husty (3) , Philippe Wenger (1, 4) , Stéphane Caro (5, 1)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 Universität Innsbruck [Innsbruck]
3 Leopold Franzens Universität Innsbruck - University of Innsbruck
4 LS2N - équipe ReV - Robotique Et Vivant
5 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

It is known that a 3-RPS parallel manipulator with an equilateral triangle base and an equilateral triangle platform has two operation modes [1] whereas a 3-RPS cube manipulator with a cube shaped base and an equilateral triangle platform has only one operation mode [2]. This behavior is indeed a result of the difference in the architectures of these manipulators. Therefore, this paper deals with the operation mode analysis of 3-RPS parallel manipulators based on their design parameters. Study's kinematic mapping is exploited to derive the constraint equations of the manipulators under study. A linear combination of the constraint equations independent of the joint variables is compared with a general quadric in the 7-dimensional projec-tive space P 7 to obtain some relations between the design parameters of 3-RPS manipulators with coplanar revolute joints, such that those manipulators have two operation modes. Some special cases and a numerical example are considered to emphasize the proposed approach and highlight the contributions of the paper.

Mots clés: Study's kinematic mapping; operation modes; 3-RPS; parallel manipulator

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Abhilash Nayak, Thomas Stigger, Manfred Husty, Philippe Wenger, Stéphane Caro. Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters. Computer Aided Geometric Design, 2018, 63, pp.122 - 134. ⟨10.1016/j.cagd.2018.05.003⟩. ⟨hal-01860789⟩