Parallelisms Between Planar and Spatial Tricept-Like Parallel Robots

  • Adrián PeidróEmail author
  • José M. Marín
  • Óscar Reinoso
  • Luis Payá
  • Arturo Gil
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)


This paper analyzes some parallelisms between 3UPS-PU Tricept-like parallel robots and their planar version, 2RPR-PR manipulators, in terms of forward kinematics and singularities. We show that, like 2RPR-PR manipulators, all 3UPS-PU robots with flat mobile platform have special singularities for which the mobile and fixed platforms are coplanar. These special singularities turn out to be eightfold solutions of the forward kinematics, their perturbations result in double deltoids and, unlike in 2RPR-PR manipulators, encircling them does not produce nonsingular transitions.


Parallel robot Singularity Forward kinematics Cusp 



This work was supported by the Spanish Ministry of Education, Culture, and Sport (grant No. FPU13/00413) and the Spanish Ministry of Economy, Industry, and Competitiveness (project No. DPI 2016-78361-R).


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Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  • Adrián Peidró
    • 1
    Email author
  • José M. Marín
    • 1
  • Óscar Reinoso
    • 1
  • Luis Payá
    • 1
  • Arturo Gil
    • 1
  1. 1.Miguel Hernández UniversityElcheSpain

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