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Chapitre D'ouvrage Année : 2017

Comparison of 3-RPS and 3-SPR Parallel Manipulators based on their Maximum Inscribed Singularity-free Circle

Abhilash Nayak
Latifah Nurahmi
  • Fonction : Auteur

Résumé

This paper deals with the comaprison of 3-RPS and 3-SPR parallel manipulators based on their operation modes and singularity-free workspace. The operation modes of the 3-SPR ma-nipulator are identified by using Algebraic Geometry. Those operation modes amount to the operation modes of the 3-RPS parallel manipulator, which has already been studied in the literature [1]. Then, the parallel singularities of the 3-SPR and 3-RPS parallel manipulators are analyzed in order to trace their singularity loci in the orientation workspace. An index, named Maximum Inscribed Circle Radius (MICR), is defined to compare the two manipulators under study. It is based on their maximum singularity-free workspace and the ratio between their circum-radius of the moving-platform to that of the base.
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Dates et versions

hal-01758006 , version 1 (04-04-2018)

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Abhilash Nayak, Latifah Nurahmi, Philippe Wenger, Stéphane Caro. Comparison of 3-RPS and 3-SPR Parallel Manipulators based on their Maximum Inscribed Singularity-free Circle. New Trends in Mechanism and Machine Science Theory and Industrial Applications, 43, pp.121-130, 2017, Mechanisms and Machine Science, ⟨10.1007/978-3-319-44156-6_13⟩. ⟨hal-01758006⟩
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