Analysis of a 3-RUU Parallel Manipulator

03/16/2021
by   Thomas Stigger, et al.
0

The aim of this paper is to give a detailed examination of the input and output singularities of a 3-RUU parallel manipulator in the translational operation mode. This task is achieved by using algebraic constraint equations. For this type of manipulator a complete workspace representation in Study coordinates is presented after elimination of the input parameters. Both, input and output singularities are mapped into a Study subspace as well as into the joint space. Therewith a detailed singularity investigation of the translational operation mode of a 3-RUU parallel manipulator is provided. This paper is an extended version of a previous publication. The addendum comprises the discovery of a possible transition between two operation modes as well as a self motion and an examination of another component of the output singularity surface, most of them for arbitrary design parameters.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
12/22/2017

On Reduced Input-Output Dynamic Mode Decomposition

The identification of reduced-order models from high-dimensional data is...
research
09/22/2022

Output Mode Switching for Parallel Five-bar Manipulators Using a Graph-based Path Planner

The configuration manifolds of parallel manipulators exhibit more nonlin...
research
02/09/2015

On the Dynamics of a Recurrent Hopfield Network

In this research paper novel real/complex valued recurrent Hopfield Neur...
research
09/26/2022

An efficient PMOS-based LDO design for large loads

A stable low dropout (LDO) voltage regulator topology is presented in th...
research
02/03/2021

Online Cycle Detection for Models with Mode-Dependent Input and Output Dependencies

In the fields of co-simulation and component-based modelling, designers ...
research
03/26/2021

GeoSP: A parallel method for a cortical surface parcellation based on geodesic distance

We present GeoSP, a parallel method that creates a parcellation of the c...
research
05/12/2021

A Geometric Approach to the Kinematics of the Canfield Joint

This paper details an accessible geometric derivation of the forward and...

Please sign up or login with your details

Forgot password? Click here to reset