A complete kinematic analysis of the SNU 3-UPU parallel robot. (English) Zbl 1186.53014

Bates, Daniel J. (ed.) et al., Interactions of classical and numerical algebraic geometry. A conference in honor of Andrew Sommese, Notre Dame, IN, USA, May 22–24, 2008. Providence, RI: American Mathematical Society (AMS) (ISBN 978-0-8218-4746-6/pbk). Contemporary Mathematics 496, 331-346 (2009).
A kinematic analysis of the SNU 3-UPU parallel robot is presented. After describing the design of the mechanism, constraint equations are deduced. When the system is solved to get all possible assembly modes, two cases are discussed: when arbitrary design parameters are used and when the limbs are considered to be of equal length. The manipulator’s operation modes are described and finally two mechanisms with self-motion are presented. The computations are done using the computer algebra system Maple 12, except the primary decomposition in Section 4, which is computed with Singular.
For the entire collection see [Zbl 1175.14001].


53A17 Differential geometric aspects in kinematics
70B15 Kinematics of mechanisms and robots
13P10 Gröbner bases; other bases for ideals and modules (e.g., Janet and border bases)