Skip to main content
SpringerLink
Log in

The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes

  • Conference paper
  • First Online:
Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

Abstract

Recently a complete kinematic description of the \(3\)-RPS parallel manipulator was obtained using algebraic constraint equations. It turned out that the workspace decomposes into two components describing two kinematically different operation modes and that self-motions of this manipulator in both operation are possible. In this paper for the first time it is shown that this manipulator has the property of non singular assembly mode change.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Innocenti, C., Parenti-Castelli, V.: Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators. J. Mech. Des. 120, 73–79 (1998)

    Article  Google Scholar 

  2. McAree, P.R., Daniel, R.W.: An explanation of never-special assembly changing motions for 33 parallel manipulators. Int. J. Rob. Res. 186, 556–574 (1999)

    Google Scholar 

  3. Zein, M., Wenger, P., Chablat, D.: Non-singular assembly-mode changing motions for 3-rpr parallel manipulators. Mech. Mach. Theory 434, 391–524 (2008)

    Google Scholar 

  4. Husty, M.L.: Non-singular assembly mode change in 3-RPR-parallel manipulators. In: Kecskeméthy, A., Müller, A. (eds.) Computational Kinematics, pp. 51–60. Springer, Berlin (2009)

    Google Scholar 

  5. Hunt, K.H.: Structural kinematics of in-parallel-actuated robot-arms. Trans. ASME J. Mech. Transm. Autom. Des. 105, 705–712 (1983)

    Article  Google Scholar 

  6. Tsai, L.-W.: Robot Analysis. Wiley, New York (1999)

    Google Scholar 

  7. Gallardo, J., Orozco, H., Rico, J., Aguilar, C., Perez, L.: Acceleration analysis of 3-RPS parallel manipulators by means of screw theory. In: Ryu, J.-H. (ed.) Parallel Manipulators, New Developments. I-Tech Education and Publishing, Vienna (2008)

    Google Scholar 

  8. Huang, Z., Wang, J., Fang, Y.: Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators. Mech. Mach. Theory 37, 229–240 (2002)

    Article  MATH  Google Scholar 

  9. Basu, D., Ghosal, A.: Singularity analysis of platform-type multi-loop spatial mechanisms. Mech. Mach. Theory 32, 375–389 (2002)

    Article  Google Scholar 

  10. Schadlbauer, J., Husty, M.-L.: A complete analysis of the 3-RPS manipulator. In: Bandyopadhyay, S., Kumar, G.S., Ramu, P. (eds.) Machines and Mechanisms, pp. 410–419. Narosa Publishing House, New Delhi (2011)

    Google Scholar 

  11. Schadlbauer, J., Husty, M., Wenger, P., Caro, S.: Self-motions of 3-RPS manipulators. Front. Mech. Eng. 8(1), 62–69 (2013)

    Google Scholar 

  12. Husty, M.L., Pfurner, M., Schröcker, H.-P., Brunnthaler, K.: Algebraic methods in mechanism analysis and synthesis. Robotica 25(6), 661–675 (2007)

    Google Scholar 

  13. Urizar, M., Husty, M.-L.: Assembly mode change of spherical 3-RPR parallel manipulator. Proceedings of MUSME 2011, 1–16 (2011)

    Google Scholar 

  14. Urizar, M., Husty, M.: Assembly mode change of spherical 3-RPR parallel manipulator. Mech. Based Des. Struct. Mach. 40, 487–505 (2012)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute for Basic Sciences in Engineering, Unit for Geometry and CAD, University of Innsbruck, Innsbruck, Austria

    Manfred Husty & Josef Schadlbauer

  2. Institut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

    Stéphane Caro & Philippe Wenger

Authors
  1. Manfred Husty
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Josef Schadlbauer
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Stéphane Caro
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Philippe Wenger
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Philippe Wenger .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer Science+Business Media Dordrecht

About this paper

Cite this paper

Husty, M., Schadlbauer, J., Caro, S., Wenger, P. (2014). The 3-RPS Manipulator Can Have Non-Singular Assembly-Mode Changes. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_38

Download citation

  • DOI: https://doi.org/10.1007/978-94-007-7214-4_38

  • Published:

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation