Analysis of a 3-RUU Parallel Manipulator

TL;DR

This paper provides a comprehensive analysis of input and output singularities in a 3-RUU parallel manipulator during translation, including workspace representation, singularity mapping, and mode transition insights.

Contribution

It introduces a detailed algebraic approach to singularity analysis and explores mode transitions and self motions for arbitrary design parameters.

Findings

Complete workspace representation in Study coordinates.

Mapping of singularities into Study and joint spaces.

Discovery of possible mode transitions and self motions.

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.