Analysis of a 3-RUU Parallel Manipulator
This work addresses singularity analysis for parallel manipulators in robotics, but it is incremental as it extends a previous publication with additional findings.
The paper analyzes input and output singularities of a 3-RUU parallel manipulator in translational mode using algebraic constraint equations, providing a complete workspace representation in Study coordinates and mapping singularities into Study subspace and joint space.
The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type of manipulator a complete workspace representation in Study coordinates is presented after elimination of the input parameters. Both, input and output singularities are mapped into a Study subspace as well as into the joint space. Therewith a detailed singularity investigation of the translational operation mode of a 3-RUU parallel manipulator is provided. This paper is an extended version of a previous publication. The addendum comprises the discovery of a possible transition between two operation modes as well as a self motion and an examination of another component of the output singularity surface, most of them for arbitrary design parameters.