Kinematic Analysis of the 3-RPS-3-SPR Series-Parallel Manipulator - Archive ouverte HAL
Journal Articles Robotica Year : 2019

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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Dates and versions

hal-01859984 , version 1 (22-08-2018)

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Abhilash Nayak, Stéphane Caro, Philippe Wenger. Kinematic Analysis of the 3-RPS-3-SPR Series-Parallel Manipulator. Robotica, 2019, 37 (7), pp.1240-1266. ⟨10.1017/S0263574718000826⟩. ⟨hal-01859984⟩
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