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Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base
Damien Chablat, Luc Baron, Ranjan Jha
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 par…
An algebraic method to check the singularity-free paths for parallel robots
Ranjan Jha, Damien Chablat, Fabrice Rouillier +1
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the…
Workspace and Singularity analysis of a Delta like family robot
R. Jha, Damien Chablat, Fabrice Rouillier +1
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysi…