Kinematic Characteristics of 3-UPU Parallel Manipulator in Singularity and Its Application

Abstract

This paper focuses on the kinematic characteristics of the 3-UPU (universal-prismatic-universal) parallel manipulator in one of singular configurations. The motion of the moving platform is analyzed by changing the layout of the universal joints. A layout of universal joints in the singular configuration is discussed in detail by deriving the kinematic and constraint equations. Solving the equations, the kinematic characteristics in such case is obtained. At the same time the kinematic characteristics is simulated by the commercial software and the results of the simulation verify it. Based on the kinematics characteristics of it, the application of the singular configuration is presented. And a compound limb which can translate freely along a circular path is presented. Finally, the some new 2-DOF (degree of freedom) planar parallel translating manipulators whose orientation can remain constant are put forward by the compound limb. The passive joints of the new 2-DOF planar parallel translating manipulators are universal joint and the struts of it do not bear the bending moment. It gives the planar parallel manipulator a good architecture to resist the force which is perpendicular to the kinematics plane.

Omni-Joint a Comparative Study for Singularity

“…Substituting (7) in (8) to get the Determinant with respect to θ and φ. While taking into consideration that there will be two equations, one for Zone-1 and one for Zone-2.…”

“…Others have tried to control joints motion to overcome singularity problems associated with those types of joints such as the work of Han and Park [6]. Applications of universal joints and 3 UPU manipulators have been reported by Binbin, Zengming, and Kai [7].…”

Optimal design of tricept parallel manipulator with particle swarm optimization using performance parameters

“…On the basis of dexterity, Huang (2011) designed the planar manipulator. Binbin et al (2011) tried to develop 3-DOF UPU kinematic structure and worked on the optimization and singularities. In 2012, Zhang and Fang (2012) proposed a 3-DOF PRS optimization based on interval analysis.…”

Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

“…Yu et al [61] proposed a 3-UPU PM architecture in which the R joint axes of the U joints of the base or moving platform are positioned parallel to each other inside the platform planes. Binbin et al [62] studied the singularities of these PMs. Miao et al [63] developed a rolling mechanism using such a 3-UPU PM, where the mobility, gait and stability analyzes of the PM were done.…”