Mobility, Kinematic, Singularity, and Workspace Analysis of a Translational Parallel Manipulator with 2(RRPaRR)-PRRR Kinematic Chains

Adriyan Adriyan; Indra Hasan; Deru Assadullah Assadullah Hanif; Daniel Rumahorbo; Bima Amrianto; Rahmad Illahiy

doi:10.30811/jpl.v21i5.4075

Mobility, Kinematic, Singularity, and Workspace Analysis of a Translational Parallel Manipulator with 2(RRPaRR)-PRRR Kinematic Chains

Adriyan Adriyan, Indra Hasan, Deru Assadullah Assadullah Hanif, Daniel Rumahorbo, Bima Amrianto, Rahmad Illahiy

Abstract

This article presents an asymmetric parallel manipulator with 2(RRPaRR)-PRRR kinematic chains. This manipulator aims to operate as a lower-mobility parallel manipulator with the pure translational motion of its platform. Therefore, a series of analyses are performed to fulfill this intention. First, the mobility analysis is performed by applying the Grübler-Kutzbach equation and the screw theory. Then, the kinematic, singularity, and workspace analysis are applied to analyze this PM. As a result, the application of the screw theory for the configuration of its kinematic chains shows its mobility in a pure translational motion in space. Then, this manipulator has a closed-form solution for its direct kinematic problem expressed in a quadratic equation. By applying singularity and workspace analysis via visualization, the singularity-free workspace along the z-axis of its workspace can be identified. This can later be used as a useful workspace. Overall, the presented manipulator can be applied to a translational parallel manipulator

Keywords

mobility, singularity, workspace, 2(RRPaRR)-PRRR kinematic chains, and translational parallel manipulators.

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DOI: http://dx.doi.org/10.30811/jpl.v21i5.4075