Abstract
The chapter presents the kinematics and singularity analysis by screw theory of a novel 4-UPU fully parallel manipulator with four degrees of freedom. The kinematics is characterized by four UPU legs with the actuation on the prismatic joint and allows the three translations of the end-effector and one rotation along a direction orthogonal to the platform. In the chapter we show how by studying the singularity loci and analyzing both the constraint and actuation Jacobian by screw theory, it is possible to analytically determine the geometric conditions and kinematic parameters that lead to a null determinant of the Jacobian. Moreover, the singular configurations for the legs and the effects on the kinematics are investigated.
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This work has been funded from the EU FP7 project n. 601165 WEARHAP.
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© 2014 Springer International Publishing Switzerland
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Solazzi, M., Gabardi, M., Frisoli, A., Bergamasco, M. (2014). Kinematics Analysis and Singularity Loci of a 4-UPU Parallel Manipulator. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_48
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DOI: https://doi.org/10.1007/978-3-319-06698-1_48
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Online ISBN: 978-3-319-06698-1
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