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Kinematic-, Static- and Workspace Analysis of a 6-P-U-S Parallel Manipulator

[+] Author Affiliations
Madusudanan Sathia Narayanan, Sourish Chakravarty, Hrishi Shah, Venkat N. Krovi

State University of New York at Buffalo, Buffalo, NY

Paper No. DETC2010-28978, pp. 1456-1456.8; 8 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


This paper examines the symbolic kinematic modeling of a general 6-P -U-S (prismatic-universal-spherical) parallel kinematic manipulator (PKM). The base location of actuators has been previously shown to lead to: (i) reduction of the (motor) weight carried by the legs; (ii) elimination of the actuation transmission requirement (through intermediary joints as in the case of the Stewart-Gough platform); and (iii) most-importantly absorption of reaction-forces by the ground. We focus on using the symbolic equations to derive the conditions for type I and II singularities of this class of parallel manipulators. Based on these conditions, this system of equations is specialized to a specific configuration of the platform that has superior structural design and comparatively minimal singularities within its workspace. A series of studies were conducted to investigate the quality of workspace as well as estimate the actuation requirements for a unit payload carried over their workspace using the symbolic Jacobian model for this specialized configuration.

Copyright © 2010 by ASME
Topics: Manipulators



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