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Direct Singular Positions of 3RPS Parallel Manipulators

[+] Author Affiliations
C. H. Liu, Shengchia Cheng

Tamkang University, Taipei, Taiwan, R.O.C.

Paper No. DETC2004-57020, pp. 43-52; 10 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


In this study a procedure to obtain direct singular positions of a 3RPS parallel manipulator is presented. If the heights of 3 spherical joints, denoted by d1n , d2n , and d3n respectively, are used as coordinate axes, then the workspace of the moving platform may be represented as an inclined solid cylinder in this coordinate system. The location of a point on the solid circular cylinder determines a configuration of the manipulator’s moving platform. The procedure to locate direct singular positions consists of two steps, the orientation of the moving platform is assumed first, from which the horizontal position of the moving platform may be obtained; then in the second step the heights that make determinant of Jacobian matrix vanish may always be determined. Results show that unless the moving platform is normal to the base, in which case there exist only one or two singular configurations, otherwise there are always three singular configurations corresponding to a moving platform’s orientation.

Copyright © 2004 by ASME
Topics: Manipulators



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