Workspace and Singularities of a Constrained Parallel Robot with 3 D.O.F. in Pure Translation


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Abstract


The geometrical model determination of a  constrained parallel robot with three  degrees of freedom is carried out.  The constraints consist of a passive central segment of PPP type (P: prismatic) which led the robot end-effector to a  pure translatory movements. A determination of the workspace based on the geometrical model analysis is derived followed by a numerical calculation of all the attainable points enabling a graphical visualisation of such workspace. In addition, the analysis of the jacobian matrix has been also derived and permitted to ensure that there are no singularities of type 1 and 2 in this constrained structure. An experimental robot prototype has been buit up in order to validate the theoretical analysis.
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Keywords


Constrained Parallel Robot; Direct Kinematics; Inverse Kinematics; Passive Segment; Singularity; Workspace

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