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Research Papers: Mechanisms and Robotics

A Class of Parallel Robots Practically Free of Parallel Singularities

[+] Author and Article Information
Patricia Ben Horin, Moshe Shoham

Robotics Laboratory, Department of Mechanical Engineering, Technion—Israel Institute of Technology, Technion City, Haifa 32000, Israel

J. Mech. Des 130(5), 052303 (Mar 26, 2008) (9 pages) doi:10.1115/1.2885508 History: Received January 28, 2007; Revised August 03, 2007; Published March 26, 2008

This paper presents a class of 6-DOF three-legged parallel robots that are practically free of parallel singularities. The robots of this class have legs with a characteristic passive pair of prismatic and spherical joints, the first being directly attached to the platform. First, the direct kinematics of this class is solved, showing that for a certain arrangement there exists only one assembly mode. Then, the robot singularities are derived, showing that they practically do not exist in this structure. The advantages of this class of robots are hence simple direct kinematics and no need of singularity calculations.

Copyright © 2008 by American Society of Mechanical Engineers
Topics: Robots , Kinematics
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References

Figures

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Figure 1

A 3-PPSP robot from Ref. 36

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Figure 2

General model of the robot

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Figure 3

Skeleton view of the robot

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Figure 4

Top view of the robot (perpendicular to ẑ)

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Figure 5

Intersection of S1 and I2

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Figure 6

(a) Case (a) one zero and one positive solution. (b) Case (b), one positive solution. (c) Case (b), two positive solutions. (d) Case (d) one positive and one negative solution.

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Figure 7

Determination of the platform orientation

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Figure 8

Robot pose in example 1

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Figure 9

Robot pose in example 2

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Figure 10

Planar pencil of reciprocal screws

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Figure 11

Governing lines of the robot

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Figure 12

Singular case (d) (5B)

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Figure 13

Singular case (d) (4B)

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Figure 14

Singular case (c) (1A, 2A, 2B, and 3B)

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Figure 15

Singular cases (a) (5B) and (c) (4C)

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Figure 16

Singular case (b) (3D)

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