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Open AccessArticle

A Novel 3-URU Architecture with Actuators on the Base: Kinematics and Singularity Analysis

Department of Engineering, University of Ferrara, 44122 Ferrara, Italy
Robotics 2020, 9(3), 60; https://doi.org/10.3390/robotics9030060
Received: 30 June 2020 / Revised: 22 July 2020 / Accepted: 28 July 2020 / Published: 31 July 2020
(This article belongs to the Special Issue Kinematics and Robot Design III, KaRD2020)
Translational parallel manipulators (TPMs) with DELTA-like architectures are the most known and affirmed ones, even though many other TPM architectures have been proposed and studied in the literature. In a recent patent application, this author has presented a TPM with three equal limbs of Universal-Revolute-Universal (URU) type, with only one actuated joint per limb, which has overall size and characteristics similar to DELTA robots. The presented translational 3-URU architecture is different from other 3-URUs, proposed in the literature, since it has the actuators on the frame (base) even though the actuated joints are not on the base, and it features a particular geometry. Choosing the geometry and the actuated joints highly affects 3-URU’s behavior. Moreover, putting the actuators on the base allows a substantial reduction of the mobile masses, thus promising good dynamic performances, and makes the remaining part of the limb a simple chain constituted by only passive R-pairs. The paper addresses the kinematics and the singularity analysis of this novel TPM and proves the effectiveness of the new design choices. The results presented here form the technical basis for the above-mentioned patent application. View Full-Text
Keywords: lower-mobility manipulator; translational parallel manipulator; kinematics; mobility analysis; singularity analysis lower-mobility manipulator; translational parallel manipulator; kinematics; mobility analysis; singularity analysis
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MDPI and ACS Style

Di Gregorio, R. A Novel 3-URU Architecture with Actuators on the Base: Kinematics and Singularity Analysis. Robotics 2020, 9, 60. https://doi.org/10.3390/robotics9030060

AMA Style

Di Gregorio R. A Novel 3-URU Architecture with Actuators on the Base: Kinematics and Singularity Analysis. Robotics. 2020; 9(3):60. https://doi.org/10.3390/robotics9030060

Chicago/Turabian Style

Di Gregorio, Raffaele. 2020. "A Novel 3-URU Architecture with Actuators on the Base: Kinematics and Singularity Analysis" Robotics 9, no. 3: 60. https://doi.org/10.3390/robotics9030060

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