Singularity and kinematics analysis for a class of PPUU mobile parallel robots

Authors:
Ying Hu;Zhong Wan;Junfeng Yao;Jianwei Zhang
Affiliations:
Shenzhen Institute of Advanced Integration Technology, Chinese Academy of Sciences and The Chinese University of Hong Kong, Shenzhen, China;Shenzhen Institute of Advanced Integration Technology, Chinese Academy of Sciences and The Chinese University of Hong Kong, Shenzhen, China;Shenzhen Institute of Advanced Integration Technology, Chinese Academy of Sciences and The Chinese University of Hong Kong, Shenzhen, China;University of Hamburg, Germany and Chinese Academy of Sciences and The Chinese University of Hong Kong, Shenzhen, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

In this paper a class of mobile parallel robots with the structural configuration of PPUU (Prismatic-Prismatic- Universal-Universal) is investigated in detail. Firstly a singularity analysis corresponding to different configured cases of the revolute axes of the robot's U-joint based on the screw theory is developed and a brief comparison of the four cases is carried out. Of all four configuration schemes, only PxPyUxEUFG can avoid a singularity by mechanism design rather than complicated trajectory control. Then the inverse kinematics to the PxPyUxEUFG mobile parallel robot is developed. By a numerical approach, the orientation workspace envelope is mapped. This work provides an analytical basis for the design of an MPR prototype.