Next Article in Journal
Acknowledgement to Reviewers of Robotics in 2019
Previous Article in Journal
An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators
Previous Article in Special Issue
Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot
Review

A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

Department of Engineering, University of Ferrara, 44122 Ferrara, Italy
Robotics 2020, 9(1), 5; https://doi.org/10.3390/robotics9010005
Received: 10 December 2019 / Revised: 28 December 2019 / Accepted: 10 January 2020 / Published: 13 January 2020
(This article belongs to the Special Issue Kinematics and Robot Design II, KaRD2019)
Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first proposed in the last decade of the 20th century and have animated discussions among researchers for more-or-less two decades. Such discussions brought to light many features of lower-mobility parallel manipulators (PMs) that were unknown until then. The discussions also showed that such architectures may be sized into translational PMs, parallel wrists, or even reconfigurable (metamorphic) PMs. Even though commercial robots with these architectures have not yet been built, the interest in them remains. Consequently, a review of the literature on these architectures, highlighting their contribution to the progress of lower-mobility PM design, is still of interest for the scientific community. This paper aims at presenting a critical review of the results that have been obtained up until now. View Full-Text
Keywords: parallel manipulators; lower mobility; reconfigurable mechanism; singularity locus; constraint singularities; structural singularity parallel manipulators; lower mobility; reconfigurable mechanism; singularity locus; constraint singularities; structural singularity
Show Figures

Figure 1

MDPI and ACS Style

Di Gregorio, R. A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type. Robotics 2020, 9, 5. https://doi.org/10.3390/robotics9010005

AMA Style

Di Gregorio R. A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type. Robotics. 2020; 9(1):5. https://doi.org/10.3390/robotics9010005

Chicago/Turabian Style

Di Gregorio, Raffaele. 2020. "A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type" Robotics 9, no. 1: 5. https://doi.org/10.3390/robotics9010005

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop