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Workspace and Joint Space Analysis of the 3-RPS Parallel Robot

[+] Author Affiliations
D. Chablat, R. Jha

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

F. Rouillier

INRIA Paris-Rocquencourt, Paris, France

G. Moroz

INRIA Nancy-Grand Est, Nancy, France

Paper No. DETC2014-34593, pp. V05AT08A056; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


The Accurate calculation of the workspace and joint space for 3 RPS parallel robotic manipulator is a highly addressed research work across the world. Researchers have proposed a variety of methods to calculate these parameters. In the present context a cylindrical algebraic decomposition based method is proposed to model the workspace and joint space. It is a well know feature that this robot admits two operation modes. We are able to find out the set in the joint space with a constant number of solutions for the direct kinematic problem and the locus of the cusp points for the both operation mode. The characteristic surfaces are also computed to define the uniqueness domains in the workspace. A simple 3-RPS parallel with similar base and mobile platform is used to illustrate this method.

Copyright © 2014 by ASME



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