Kinematic and dynamic properties of parallel manipulators (Q5935669)

The design of robotic manipulators must lead to the possibility to reach a desired spatial position, ensuring as well as high manipulability. Here, the authors deal with parallel mechanisms the manipulability of which can be described by several measures, each having different sensitivity to singular configurations of the structure. A three-parameter representation of rotation group \(\text{SO}(3)\) is replaced by a four-parametric description to avoid mathematical singularities, kinematic relations are introduced and applied, manipulator singularities are classified, and the behaviour of introduced manipulability measures is analyzed. As examples, the authors consider the classical hexapod structure and a triplanar robot, and investigate their workspace, manipulability and elastic stiffness.