デルタ型ベースを持つ3-PPPSパラレルロボットの自己運動
Self-Motion of the 3-PPPS Parallel Robot with Delta-Shaped Base
正三角形ベースと可動プラットフォームを持つ3-PPPSパラレルロボットの運動学を解析し、特異点がエンドエフェクタの姿勢のみに依存すること、およびカルダン型の自己運動が存在することを示した。
著者: D Chablat, E Ottaviano, S Venkateswaran
分類: cs.RO
原文アブストラクト
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equi-lateral mobile platform and an equilateral-shaped base. Like the other 3-PPPS robots studied in the literature, it is proved that the parallel singularities depend only on the orientation of the end-effector. The quaternion parameters are used to represent the singularity surfaces. The study of the direct kinematic model shows that this robot admits a self-motion of the Cardanic type. This explains why the direct kinematic model admits an infinite number of solutions in the center of the workspace at the "home" position but has never been studied until now.