The 3-PPPS parallel robot with U-shape Base

a 6DOF parallel robot with simple kinematics?

Damien Chablat, Luc Baron, Ranjan Jha, Luc Rolland

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the “home” configuration.
Original languageEnglish
Title of host publicationAdvances in Robot Kinematics 2018
Subtitle of host publicationARK 2018
Place of PublicationCham
PublisherSpringer
Pages195-202
Number of pages8
ISBN (Electronic)978-3-319-93188-3
ISBN (Print)978-3-319-93187-6
DOIs
Publication statusE-pub ahead of print - 23 Jun 2018

Publication series

NameSpringer Proceedings in Advanced Robotics (SPAR)
PublisherSpringer
Volume8

Fingerprint

Kinematics
Robots
Inverse kinematics
Numerical methods
Trajectories
Decomposition
Controllers

Keywords

  • 6 DOF parallel robot
  • Singularity
  • Kinematic model

Cite this

Chablat, D., Baron, L., Jha, R., & Rolland, L. (2018). The 3-PPPS parallel robot with U-shape Base: a 6DOF parallel robot with simple kinematics? In Advances in Robot Kinematics 2018: ARK 2018 (pp. 195-202). (Springer Proceedings in Advanced Robotics (SPAR); Vol. 8). Cham: Springer. https://doi.org/10.1007/978-3-319-93188-3_23
Chablat, Damien ; Baron, Luc ; Jha, Ranjan ; Rolland, Luc. / The 3-PPPS parallel robot with U-shape Base : a 6DOF parallel robot with simple kinematics?. Advances in Robot Kinematics 2018: ARK 2018. Cham : Springer, 2018. pp. 195-202 (Springer Proceedings in Advanced Robotics (SPAR)).
@inproceedings{0af95735f2774ead932db5c43bc6e686,
title = "The 3-PPPS parallel robot with U-shape Base: a 6DOF parallel robot with simple kinematics?",
abstract = "One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the “home” configuration.",
keywords = "6 DOF parallel robot, Singularity, Kinematic model",
author = "Damien Chablat and Luc Baron and Ranjan Jha and Luc Rolland",
year = "2018",
month = "6",
day = "23",
doi = "https://doi.org/10.1007/978-3-319-93188-3_23",
language = "English",
isbn = "978-3-319-93187-6",
series = "Springer Proceedings in Advanced Robotics (SPAR)",
publisher = "Springer",
pages = "195--202",
booktitle = "Advances in Robot Kinematics 2018",
address = "United States",

}

Chablat, D, Baron, L, Jha, R & Rolland, L 2018, The 3-PPPS parallel robot with U-shape Base: a 6DOF parallel robot with simple kinematics? in Advances in Robot Kinematics 2018: ARK 2018. Springer Proceedings in Advanced Robotics (SPAR), vol. 8, Springer, Cham, pp. 195-202. https://doi.org/10.1007/978-3-319-93188-3_23

The 3-PPPS parallel robot with U-shape Base : a 6DOF parallel robot with simple kinematics? / Chablat, Damien; Baron, Luc; Jha, Ranjan; Rolland, Luc.

Advances in Robot Kinematics 2018: ARK 2018. Cham : Springer, 2018. p. 195-202 (Springer Proceedings in Advanced Robotics (SPAR); Vol. 8).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - The 3-PPPS parallel robot with U-shape Base

T2 - a 6DOF parallel robot with simple kinematics?

AU - Chablat, Damien

AU - Baron, Luc

AU - Jha, Ranjan

AU - Rolland, Luc

PY - 2018/6/23

Y1 - 2018/6/23

N2 - One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the “home” configuration.

AB - One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the “home” configuration.

KW - 6 DOF parallel robot

KW - Singularity

KW - Kinematic model

U2 - https://doi.org/10.1007/978-3-319-93188-3_23

DO - https://doi.org/10.1007/978-3-319-93188-3_23

M3 - Conference contribution

SN - 978-3-319-93187-6

T3 - Springer Proceedings in Advanced Robotics (SPAR)

SP - 195

EP - 202

BT - Advances in Robot Kinematics 2018

PB - Springer

CY - Cham

ER -

Chablat D, Baron L, Jha R, Rolland L. The 3-PPPS parallel robot with U-shape Base: a 6DOF parallel robot with simple kinematics? In Advances in Robot Kinematics 2018: ARK 2018. Cham: Springer. 2018. p. 195-202. (Springer Proceedings in Advanced Robotics (SPAR)). https://doi.org/10.1007/978-3-319-93188-3_23