kinematics and dynamics of robots
Event Date/Time: Feb 08, 2010
In this paper singularity analysis of offset 3_UPU that is mounted in special from to ascertain pure translation movement of platform is investigated. Offset 3_UPU translation parallel manipulator is contained three legs with (universal-prismatic-universal) joint with having equal offset in its six universal joints. If distance between two revolute joints of a universal joint exists, joint is considered as universal joint with offset. The screw theory method is applied to obtain singular configuration of this manipulator. Using screw theory method for finding all singularity conditions of pure translational manipulator is more efficient than traditional jacobian matrices method. Also Constraint singularity and redundant output are presented. Conclusions have similarity to 3_UPU parallel manipulator with zero offsets.