Abstract
This paper deals with the kinetostatic and singularity analyses of the 3- UPU parallel robot. The kinetostatic model was derived analytically and two types of singularity were identified, i.e., architecture singularity and configuration singulariy. First, the actuators forces needed to balance an external load on the platform were calculated, then and thanks to its analytical form, the singularity of the kinetostatic model was studied as a function of the different design parameters of the robot.
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Chebbi, AH., Affi, Z., Romdhane, L. (2009). Kinetostatic and Singularity Analyses of the 3- UPU Translational Parallel Robot. In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_8
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DOI: https://doi.org/10.1007/978-3-642-01947-0_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-01946-3
Online ISBN: 978-3-642-01947-0
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