Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators
3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that moves the axis of the first R-pair. The members of...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/12/5/138 |
| _version_ | 1797572356355391488 |
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| author | Henrique Simas Raffaele Di Gregorio Roberto Simoni |
| author_facet | Henrique Simas Raffaele Di Gregorio Roberto Simoni |
| author_sort | Henrique Simas |
| collection | DOAJ |
| description | 3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that moves the axis of the first R-pair. The members of this family share the fact that they all become particular 3-RRU structures when the actuators are locked. By exploiting this feature, the present paper proposes a general approach, which holds for all the members of this family, to analyze the instantaneous kinematics, workspace, and kinetostatic performances of any 3-XXRRU PM. The results of this study include the identification of singularity conditions without reference to a specific actuation system, the proposal of two specific dimensionless performance indices ranging from 0 to 1, the determination of the optimal actuation system, and the demonstration that 3-XXRRU PMs, when appropriately sized and actuated, possess a broad singularity-free workspace that is also fully isotropic. These findings hold significance in the context of the dimensional synthesis and control of 3-XXRRU PMs. Moreover, when combined with the closed-form solutions for their positional analysis, as demonstrated in a previous publication by the same authors, 3-XXRRU PMs emerge as intriguing alternatives to other six-DOF PMs. The efficacy of the proposed approach is further illustrated through a case study. |
| first_indexed | 2024-03-10T20:55:06Z |
| format | Article |
| id | doaj.art-da396f456a4641298ca184ee9cb2eb30 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T20:55:06Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-da396f456a4641298ca184ee9cb2eb302023-11-19T18:01:21ZengMDPI AGRobotics2218-65812023-10-0112513810.3390/robotics12050138Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel ManipulatorsHenrique Simas0Raffaele Di Gregorio1Roberto Simoni2Raul Guenther Laboratory of Applied Robotics, Department of Mechanical Engineering, Federal University of Santa Catarina, Florianópolis 88040-900, SC, BrazilLaboratory of Mechatronics and Virtual Prototyping (LaMaViP), Department of Engineering, University of Ferrara, Via Saragat, 1, 44100 Ferrara, ItalyDepartment of Mobility Engineering, Federal University of Santa Catarina, Joinville 89219-600, SC, Brazil3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that moves the axis of the first R-pair. The members of this family share the fact that they all become particular 3-RRU structures when the actuators are locked. By exploiting this feature, the present paper proposes a general approach, which holds for all the members of this family, to analyze the instantaneous kinematics, workspace, and kinetostatic performances of any 3-XXRRU PM. The results of this study include the identification of singularity conditions without reference to a specific actuation system, the proposal of two specific dimensionless performance indices ranging from 0 to 1, the determination of the optimal actuation system, and the demonstration that 3-XXRRU PMs, when appropriately sized and actuated, possess a broad singularity-free workspace that is also fully isotropic. These findings hold significance in the context of the dimensional synthesis and control of 3-XXRRU PMs. Moreover, when combined with the closed-form solutions for their positional analysis, as demonstrated in a previous publication by the same authors, 3-XXRRU PMs emerge as intriguing alternatives to other six-DOF PMs. The efficacy of the proposed approach is further illustrated through a case study.https://www.mdpi.com/2218-6581/12/5/138parallel manipulatorsinstantaneous kinematicssingularity analysisworkspacemotion control |
| spellingShingle | Henrique Simas Raffaele Di Gregorio Roberto Simoni Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators Robotics parallel manipulators instantaneous kinematics singularity analysis workspace motion control |
| title | Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators |
| title_full | Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators |
| title_fullStr | Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators |
| title_full_unstemmed | Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators |
| title_short | Instantaneous Kinematics and Free-from-Singularity Workspace of 3-XXRRU Parallel Manipulators |
| title_sort | instantaneous kinematics and free from singularity workspace of 3 xxrru parallel manipulators |
| topic | parallel manipulators instantaneous kinematics singularity analysis workspace motion control |
| url | https://www.mdpi.com/2218-6581/12/5/138 |
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