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 contributionpeer-review

1 Citation (Scopus)


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
EditorsJadran Lenarcic, Vincenzo Parenti-Castelli
Place of PublicationCham
Number of pages8
ISBN (Electronic)9783319931883
ISBN (Print)9783319931876
Publication statusE-pub ahead of print - 23 Jun 2018

Publication series

NameSpringer Proceedings in Advanced Robotics (SPAR)
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


  • 6 DOF parallel robot
  • Singularity
  • Kinematic model


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