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This paper deals with the kinetostatic and singularity analyses of the 3- UPU parallel robot. The kinetostatic model was derived analytically and two types of singularity were identified, i.e., architecture singularity and configuration singulariy. First, the actuators forces needed to balance an external load on the platform were calculated, then and thanks to its analytical form, the singularity...
This paper collects the most relevant results on singularities and workspace of the Tsai manipulator, a parallel manipulator that provides its mobile platform with three degree of freedom of pure translation with respect to its fixed base. The paper investigates the influence of some geometric parameters – specifically the orientation of the base/platform revolute axes and the locations of its legs...
This paper deals with the singularity analysis and modeling of the effects of the clearance in the joints on the parallel robot accuracy. This model is presented in an analytical form, which allowed us to predict easily the pose error for a given external load, a nominal pose and the structural parameters of the 3-UPU parallel manipulator. Based on this model, we also developed an algorithm to map...
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