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Forward and Inverse Kinematic Singularity analysis of Eight bar 3 - PPP Spatial Parallel Manipulator


Forward and Inverse Kinematic Singularity analysis of Eight bar 3 - PPP Spatial Parallel Manipulator
Authors : Pundru Srinivasa Rao
Publication Date: 31-05-2017

Authors

Author(s):  Pundru Srinivasa Rao

Published in:   International Journal of Engineering Research & Technology

License:  This work is licensed under a Creative Commons Attribution 4.0 International License.

Website: www.ijert.org

Volume/Issue:   Volume. 6 - Issue. 06 , June - 2017

e-ISSN:   2278-0181

 DOI:  http://dx.doi.org/10.17577/IJERTV6IS060052

Abstract

An eight bar 3-PPP spatial parallel manipulator with forward and inverse kinematic singularities are analyzed. The determination of singularities in the workspace of 3- PPP spatial parallel manipulator with eight bar mechanism is an important role in machining process of several parallel manipulators for generating symmetric three dimensional coupler curves. The mathematical equations are derived for the proposed approach.

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