This paper presents the kinematic analysis of the 3-PPPS parallel robot withan equilateral mobile platform and a U-shape base. The proposed design andappropriate selection of parameters allow to formulate simpler direct andinverse kinematics for the manipulator under study. The parallel singularitiesassociated with the manipulator depend only on the orientation of theend-effector, and thus depend only on the orientation of the end effector. Thequaternion parameters are used to represent the aspects, i.e. the singularityfree regions of the workspace. A cylindrical algebraic decomposition is used tocharacterize the workspace and joint space with a low number of cells. Thedis-criminant variety is obtained to describe the boundaries of each cell. Withthese simplifications, the 3-PPPS parallel robot with proposed design can beclaimed as the simplest 6 DOF robot, which further makes it useful for theindustrial applications.
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