Abstract
Translational parallel manipulators (TPMs) have attracted the interest of the scientific community since the appearance of the DELTA robot. Many TPM architectures have been proposed in the literature, and TPMs of 3-UPU type are among the most studied ones. Nevertheless, only some particular 3-UPU geometries have been studied in depth. The IRI 3-UPUs constitute a new family of recently proposed geometries which could be interesting for industrial applications. Here, the singularity analysis of these novel geometries is addressed with reference to the most promising IRI 3-UPU particular geometry.
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Notes
- 1.
According to [10], here, the term “limb connectivity” denotes the DOF number the platform would have if it were connected to the base only through that limb.
- 2.
The parallelism of the coordinate axes is kept during the motion since the analyzed 3-UPU is translational.
- 3.
With reference to Fig. 2, note that, if the translation conditions hold, then, ri = − hi.
- 4.
It is worth noting that it is not possible to have only one infinite limb length.
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Acknowledgments
This work has been developed at the Laboratory of Mechatronics and Virtual Prototyping (LaMaViP) of Ferrara Technopole, supported by FAR2019 UNIFE funds.
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Di Gregorio, R. (2021). Singularity Loci of a Particular IRI 3-UPU Geometry. In: Lovasz, EC., Maniu, I., Doroftei, I., Ivanescu, M., Gruescu, CM. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics . MTM&Robotics 2020. Mechanisms and Machine Science, vol 88. Springer, Cham. https://doi.org/10.1007/978-3-030-60076-1_1
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