E-053

Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translational Motion

Authors: Raffaele Di Gregorio (*) and Vincenzo Parenti-Castelli (**)
Affiliations: (*) Department of Engineering, University of Ferrara, Via Saragat 1, 44100 Ferrara, Italy
P.: +39-0532-293828
F.: +39-0532-768602
E.: rdigregorio@ing.unife.it
(**) Department of Mechanical Engineering, University of Bologna, Via Risorgimento 2, 40136 Bologna, Italy
P.: +39-051-2093459
F.:+39-051-2093446
E.: vincenzo.parenticastelli@mail.ing.unibo.it

Abstract
The occurrence of singular configurations in parallel mechanisms must be avoided during motion since the actuators cannot control motion even in the neighbourhood of these configurations. As a consequence, the knowledge of the singular configurations of the mechanism is important for control purposes, for singularity-free path planning and also represents basic information for the synthesis of a desired mechanism workspace free from singularities. In this paper the mobility analysis of the 3-UPU parallel mechanism assembled for obtaining a pure translation motion of the output platform is performed and both translation and rotation singularity loci are presented in analytic form and their geometric interpretation is given.