Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator

This paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four degrees of freedom are reached by means of a uniq...

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Autores: Diego Martín, Paul, Macho Mier, Erik, Herrero Villalibre, Saioa, Campa Gómez, Francisco Javier, Díez Sánchez, Mikel, Corral Saiz, Javier, Pinto Cámara, Charles Richard
Tipo de recurso: artículo
Fecha de publicación:2024
País:España
Institución:Universidad del País Vasco
Repositorio:Addi. Archivo Digital para la Docencia y la Investigación
OAI Identifier:oai:addi.ehu.eus:10810/71508
Acceso en línea:http://hdl.handle.net/10810/71508
Access Level:acceso abierto
Palabra clave:parallel manipulator
kinematics
working modes
workspace
2T2R
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spelling Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulatorDiego Martín, PaulMacho Mier, ErikHerrero Villalibre, SaioaCampa Gómez, Francisco JavierDíez Sánchez, MikelCorral Saiz, JavierPinto Cámara, Charles Richardparallel manipulatorkinematicsworking modesworkspace2T2RThis paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four degrees of freedom are reached by means of a unique RRU and three RSS kinematic chains connected to a rhomboid-shaped mobile platform. The kinematic analysis of the new manipulator is provided, which includes the resolution of the inverse position problem and the velocity equations relating to input and output variables. Additionally, a methodology is proposed for obtaining the workspace free of singularities, collisions and kinematic joint range limitation. This systematic methodology allows designers to identify the critical factors affecting the workspace and, thus, to rearrange the mechanical design accordingly for optimum path planning. We represent the workspace using its two-dimensional subspaces (i.e., translational and rotational workspace). The results are analyzed for different working modes of the manipulator to see its potential use in applications wherein 2T2R motion is necessary.This research received financial support for the project PID2019-105262RB-I00 funded by MCIN/AEI/10.13039/501100011033, for the project PDC2022-133787-I00 funded by MCIN/AEI/10.13039/501100011033 and by the European Union Next Generation EU/PRTR and, for the project PID2023-150982OB-I00 funded by MCIU/AEI/10.13039/501100011033/FEDER, UE. This research was also funded by the Basque government for the project 2018222013 and PhD grant PRE_2023_2_0168.MDPI202520252024info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10810/71508reponame:Addi. Archivo Digital para la Docencia y la Investigacióninstname:Universidad del País VascoInglésinfo:eu-repo/grantAgreement/MICINN/PID2019-105262RB-I00/info:eu-repo/grantAgreement/MICINN/PDC2022-133787-I00/info:eu-repo/grantAgreement/MICINN/PID2023-150982OB-I00/https://www.mdpi.com/2076-3417/14/20/9491info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/4.0/© 2024 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).oai:addi.ehu.eus:10810/715082026-06-18T09:23:17Z
dc.title.none.fl_str_mv Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
title Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
spellingShingle Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
Diego Martín, Paul
parallel manipulator
kinematics
working modes
workspace
2T2R
title_short Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
title_full Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
title_fullStr Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
title_full_unstemmed Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
title_sort Kinematic and workspace analysis of RRU-3RSS: A novel 2T2R parallel manipulator
dc.creator.none.fl_str_mv Diego Martín, Paul
Macho Mier, Erik
Herrero Villalibre, Saioa
Campa Gómez, Francisco Javier
Díez Sánchez, Mikel
Corral Saiz, Javier
Pinto Cámara, Charles Richard
author Diego Martín, Paul
author_facet Diego Martín, Paul
Macho Mier, Erik
Herrero Villalibre, Saioa
Campa Gómez, Francisco Javier
Díez Sánchez, Mikel
Corral Saiz, Javier
Pinto Cámara, Charles Richard
author_role author
author2 Macho Mier, Erik
Herrero Villalibre, Saioa
Campa Gómez, Francisco Javier
Díez Sánchez, Mikel
Corral Saiz, Javier
Pinto Cámara, Charles Richard
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv parallel manipulator
kinematics
working modes
workspace
2T2R
topic parallel manipulator
kinematics
working modes
workspace
2T2R
description This paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four degrees of freedom are reached by means of a unique RRU and three RSS kinematic chains connected to a rhomboid-shaped mobile platform. The kinematic analysis of the new manipulator is provided, which includes the resolution of the inverse position problem and the velocity equations relating to input and output variables. Additionally, a methodology is proposed for obtaining the workspace free of singularities, collisions and kinematic joint range limitation. This systematic methodology allows designers to identify the critical factors affecting the workspace and, thus, to rearrange the mechanical design accordingly for optimum path planning. We represent the workspace using its two-dimensional subspaces (i.e., translational and rotational workspace). The results are analyzed for different working modes of the manipulator to see its potential use in applications wherein 2T2R motion is necessary.
publishDate 2024
dc.date.none.fl_str_mv 2024
2025
2025
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10810/71508
url http://hdl.handle.net/10810/71508
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/grantAgreement/MICINN/PID2019-105262RB-I00/
info:eu-repo/grantAgreement/MICINN/PDC2022-133787-I00/
info:eu-repo/grantAgreement/MICINN/PID2023-150982OB-I00/
https://www.mdpi.com/2076-3417/14/20/9491
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by/4.0/
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Addi. Archivo Digital para la Docencia y la Investigación
instname:Universidad del País Vasco
instname_str Universidad del País Vasco
reponame_str Addi. Archivo Digital para la Docencia y la Investigación
collection Addi. Archivo Digital para la Docencia y la Investigación
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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