Analysis of a 3-RUU Parallel Manipulator
Abstract
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.
Keywords
Cite
@article{arxiv.2103.09037,
title = {Analysis of a 3-RUU Parallel Manipulator},
author = {Thomas Stigger and Johannes Siegele and Daniel F. Scharler and Martin Pfurner and Manfred L. Husty},
journal= {arXiv preprint arXiv:2103.09037},
year = {2021}
}