Title: Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base,
Abstract: This paper presents the kinematic analysis of the 3-PPPS parallel robot with
an equilateral mobile platform and a U-shape base. The proposed design and
appropriate selection of parameters allow to formulate simpler direct and
inverse kinematics for the manipulator under study. The parallel singularities
associated with the manipulator depend only on the orientation of the
end-effector, and thus depend only on the orientation of the end effector. The
quaternion parameters are used to represent the aspects, i.e. the singularity
free regions of the workspace. A cylindrical algebraic decomposition is used to
characterize the workspace and joint space with a low number of cells. The
dis-criminant variety is obtained to describe the boundaries of each cell. With
these simplifications, the 3-PPPS parallel robot with proposed design can be
claimed as the simplest 6 DOF robot, which further makes it useful for the
industrial applications.