### 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 language | English |
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Title of host publication | Advances in Robot Kinematics 2018 |

Subtitle of host publication | ARK 2018 |

Editors | Jadran Lenarcic, Vincenzo Parenti-Castelli |

Place of Publication | Cham |

Publisher | Springer |

Pages | 195-202 |

Number of pages | 8 |

ISBN (Electronic) | 9783319931883 |

ISBN (Print) | 9783319931876 |

DOIs | |

Publication status | E-pub ahead of print - 23 Jun 2018 |

### Publication series

Name | Springer Proceedings in Advanced Robotics (SPAR) |
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Publisher | Springer |

Volume | 8 |

ISSN (Print) | 2511-1256 |

ISSN (Electronic) | 2511-1264 |

### Keywords

- 6 DOF parallel robot
- Singularity
- Kinematic model

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## 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 J. Lenarcic, & V. Parenti-Castelli (Eds.),

*Advances in Robot Kinematics 2018: ARK 2018*(pp. 195-202). (Springer Proceedings in Advanced Robotics (SPAR); Vol. 8). Springer. https://doi.org/10.1007/978-3-319-93188-3_23