A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis. Li, W. & Angeles, J. Journal of Mechanisms and Robotics, 9(5):051003–051003–10, August, 2017. ![A Novel Three-Loop Parallel Robot With Full Mobility: Kinematics, Singularity, Workspace, and Dexterity Analysis [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex A novel parallel robot, dubbed the SDelta, is the subject of this paper. SDelta is a simpler alternative to both the well-known Stewart–Gough platform (SGP) and current three-limb, full-mobility parallel robots, as it contains fewer components and all its motors are located on the base. This reduces the inertial load on the system, making it a good candidate for high-speed operations. SDelta features a symmetric structure; its forward-displacement analysis leads to a system of three quadratic equations in three unknowns, which admits up to eight solutions, or half the number of those admitted by the SGP. The kinematic analysis, undertaken with a geometrical method based on screw theory, leads to two Jacobian matrices, whose singularity conditions are investigated. Instead of using the determinant of a 6 × 6 matrix, we derive one simple expression that characterizes the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as all three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the dexterity analysis is conducted via discretization. Both show that the given robot has the potential to offer both large workspace and good dexterity with a proper choice of design variables.
@article{li_novel_2017,
title = {A {Novel} {Three}-{Loop} {Parallel} {Robot} {With} {Full} {Mobility}: {Kinematics}, {Singularity}, {Workspace}, and {Dexterity} {Analysis}},
volume = {9},
issn = {1942-4302},
shorttitle = {A {Novel} {Three}-{Loop} {Parallel} {Robot} {With} {Full} {Mobility}},
url = {http://dx.doi.org/10.1115/1.4037112},
doi = {10.1115/1.4037112},
abstract = {A novel parallel robot, dubbed the SDelta, is the subject of this paper. SDelta is a simpler alternative to both the well-known Stewart–Gough platform (SGP) and current three-limb, full-mobility parallel robots, as it contains fewer components and all its motors are located on the base. This reduces the inertial load on the system, making it a good candidate for high-speed operations. SDelta features a symmetric structure; its forward-displacement analysis leads to a system of three quadratic equations in three unknowns, which admits up to eight solutions, or half the number of those admitted by the SGP. The kinematic analysis, undertaken with a geometrical method based on screw theory, leads to two Jacobian matrices, whose singularity conditions are investigated. Instead of using the determinant of a 6 × 6 matrix, we derive one simple expression that characterizes the singularity condition. This approach is also applicable to a large number of parallel robots whose six actuation wrench axes intersect pairwise, such as all three-limb parallel robots whose limbs include, each, a passive spherical joint. The workspace is analyzed via a geometric method, while the dexterity analysis is conducted via discretization. Both show that the given robot has the potential to offer both large workspace and good dexterity with a proper choice of design variables.},
number = {5},
journal = {Journal of Mechanisms and Robotics},
author = {Li, Wei and Angeles, Jorge},
month = aug,
year = {2017},
pages = {051003--051003--10}
}
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