Algebraic Analysis of 3-RRC Parallel Manipulators

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Algebraic Analysis of 3-RRC Parallel Manipulators

Nayak, Abhilash / Pfurner, Martin / Shen, Huiping / Husty, Manfred

The 3-RRC parallel manipulator consist of three identical serial revolute-revolute-cylindrical legs and had been introduced by L.W. Tsai in 1997. Several papers concerning the kinematic and dynamic behaviour of the device have been published. Contrary to previous results it is shown in this paper that an algebraic approach, using kinematic mapping and algebraic methods allows to give a complete answer to the kinematic features of the manipulator. This results in a simple and general solution of the direct and inverse kinematics, a description of the workspace, the input and the output singularities in the Cartesian and the joint space.

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Document information

Title :

Algebraic Analysis of 3-RRC Parallel Manipulators

Additional title:

Springer Proceedings in Advanced Robotics

Contributors:

Lenarčič, Jadran (editor) / Siciliano, Bruno (editor) / Nayak, Abhilash (author) / Pfurner, Martin (author) / Shen, Huiping (author) / Husty, Manfred (author)

Conference:

International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020

Published in:

Advances in Robot Kinematics 2020 ; Chapter : 21 ; 166-173

Springer Proceedings in Advanced Robotics ; 15

Publication date :

2020-07-18

Size :

8 pages

ISBN :

978-3-030-50975-0 , 978-3-030-50974-3

ISSN :