Abstract
The aim of this paper is to give a detailed examination of the workspace and the input and output singularities of the 3-RUU parallel manipulator in the translational operation mode. The examination is achieved by using algebraic constraint equations derived with the help of the Linear Implicitization Algorithm. The computation of the workspace is not limited to the boundaries of the translational operation mode but tailored with the conditions for this special case.
The investigation of the singularities include the input singularities mapped into a Study subspace and into the joint space. Also the output singularities are computed and mapped into the Study subspace and the joint space, therewith a complete singularity investigation of the translational operation mode of the 3-RUU parallel manipulator is provided.
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Acknowledgements
This work was conducted with the support of the University of Innsbruck and the support of the FWF project KAPAMAT (I 1750-N26).
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Stigger, T., Pfurner, M., Husty, M. (2019). Workspace and Singularity Analysis of a 3-RUU Parallel Manipulator. In: Corves, B., Wenger, P., Hüsing, M. (eds) EuCoMeS 2018 . EuCoMeS 2018. Mechanisms and Machine Science, vol 59. Springer, Cham. https://doi.org/10.1007/978-3-319-98020-1_38
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DOI: https://doi.org/10.1007/978-3-319-98020-1_38
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