A Geometrical Approach for the Singularity Analysis of a 3-RRS Parallel Manipulator

Conference paper
First Online:
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 50)

Abstract

Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.

Keywords

Parallel manipulators Jacobian analysis Singularity analysis Singularity surfaces 
This is a preview of subscription content, log in to check access.

Notes

Acknowledgments

The authors acknowledge the discussions with Prof. Sandipan Bandyopadhyay from IIT Madras, India.

References

  1. 1.
    Basu, D., Ghosal, A.: Singularity analysis of platform-type multi-loop spatial mechanisms. Mech. Mach. Theory 32, 375–389 (1997)CrossRefGoogle Scholar
  2. 2.
    Chen, Q.H., Chen, Z., Chai, X.X., Li, Q.C.: Kinematic analysis of a 3-axis parallel manipulator: the P3. Adv. Mech. Eng. (2013). doi: 10.1155/2013/589156 Google Scholar
  3. 3.
    Gosselin, C., Angeles, J.: Singularity analysis of closed-loop kinematic chains. Robot. Autom. IEEE Trans. 6, 281–290 (1990)CrossRefGoogle Scholar
  4. 4.
    Li, Y., Xu, Q.: Kinematic analysis of a 3-PRS parallel manipulator. Robot. Comput. Integr. Manuf. 23, 395–408 (2007)CrossRefGoogle Scholar
  5. 5.
    Merlet, J.-P.: Parallel Robots. Springer, Berlin (2001)MATHGoogle Scholar
  6. 6.
    Rezaei, A., Akbarzadeh, A., Nia, P.M., Akbarzadeh-T, M.R.: Position, Jacobian and workspace analysis of a 3-PSP spatial parallel manipulator. Robot. Comput. Integr. Manuf 29, 158–173 (2013)CrossRefGoogle Scholar
  7. 7.
    Tetik H.: Modelling and Control of a 3-RRS Parallel Manipulator. MSc Thesis, İzmir Institute of Technology (2016)Google Scholar
  8. 8.
    Tetik, H., Kalla, R., Kiper, G., Bandyopadhyay, S.: Position kinematics of a 3-RRS parallel manipulator. In: Parenti-Castelli, V., Schiehlen, W. (eds.) ROMANSY 21–Robot Design, Dynamics and Control. Springer, pp. 65–72 (2016)Google Scholar
  9. 9.
    Tsai, L.-W.: Robot Analysis: The Mechanics of Serial and Parallel Manipulators. Wiley, New York (1999)Google Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringIzmir Institute of TechnologyIzmirTurkey

Personalised recommendations