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A method to design a singularity-free 3-arm planar parallel mechanism is presented. Parallel mechanism singularities are categorized by their relationship to the design problem. A sequential design procedure is explained, whereby two arms are designed first to satisfy workspace requirements, then the third arm is designed to provide a singularity free(More)
A method to design a singularity-free planar 3-RPR planar parallel mechanism is presented. All the singular configurations of planar 3-RPR planar parallel mechanism are identified and categorized for design purposes. The location of the third base joint is taken as the design variable. A sequential design procedure is presented. And a solution set for the(More)
In this paper, a novel composite 6-DOF parallel robot is introduced. Two independent components are included in this new mechanism. One is a planar 3-RPR mechanism, the other is a spatial 3-UPS-1-PU mechanism. The planar mechanism provides translations along the x and y axes and rotation around the z axis. As a complement, the 3-UPS-1-PU mechanism provides(More)
While a number of researchers have published results in the area of parallel robot singularity determination and the a posteriori elimination of these singularities, far less work has been published in the area of singularity free workspace design. Several researchers have committed substantial funds to design hardware prototypes that have proven worthless(More)
While a number of researchers have published results in the area of parallel robot singularity determination and the a posteriori elimination of these singularities, far less work has been published in the area of singularity free workspace design. Several researchers have committed substantial funds to design hardware prototypes that have proven worthless(More)
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