**Commenced**in January 2007

**Frequency:**Monthly

**Edition:**International

**Paper Count:**30169

##### Simulation and Workspace Analysis of a Tripod Parallel Manipulator

**Authors:**
A. Arockia Selvakumar,
R. Sivaramakrishnan,
Srinivasa Karthik.T.V,
Valluri Siva Ramakrishna,
B.Vinodh.

**Abstract:**

**Keywords:**
Three Degrees of freedom Parallel Manipulator (3DOF PM),
ADAMS,
Work volume,
MATLAB,
AUTOCAD,
Pappus- Guldinus Theorem.

**Digital Object Identifier (DOI):**
doi.org/10.5281/zenodo.1082967

**References:**

[1] C. M. Gosselin and J. Angeles, "Singularity analysis of closedloop kinematic chains," IEEE Trans. Robot. Autom. 6(3), 281-290 (1990).

[2] J.Wu, J.Wang, T. Li and L.Wang, "Analysis and application of a 2-DOF planar parallel mechanism," J. Mech. Design 129(4), 434-437 (2007).

[3] F. Gao, X. Zhang, Y. Zhao and H.Wang, "A physical model of the solution space and the atlases of the reachable workspaces for 2-DOF parallel plane wrists," Mech. Mach. Theory 31(2), 173-184 (1996).

[4] X. J. Liu, J. S. Wang and G. Pritschow, "Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms," Mech. Mach. Theory 41(2), 145-169 (2006).

[5] S. P. Bai, M. Y. Teo,W. S. Ng and C. Sim, "Workspace analysis of a parallel manipulator with one redundant dof for skull-base surgery," IEEE International Conference on Intelligent Robots and Systems (2001) pp. 1694-1699.

[6] I. A. Bonev and C. M. Gosselin, "Analytical determination of the workspace of symmetrical spherical parallel mechanisms," IEEE Trans. Robot. 22(5), 1011-1017 (2006)

[7] Li, Y., and Xu, Q., 2005, "Kinematic Analysis of a New 3-DOF Translational Parallel Manipulator," Proceedings of ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2005-84299, Long Beach, California, Sept. 24-28,

[8] 2. Li, Y., and Xu, Q., 2005, "Kinematic Design of a Novel 3-DOF Compliant Parallel Manipulator for Nanomanipulation," Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 93-98.

[9] Jim Wook Kim and Park J.C (2000), "Direct Kinematic analysis of 3-PRS Parallel Mechanisms", Elsevier Publications, Mechanism and Machine Theory, Vol.35, pp.1121 - 1134.

[10] Sivaramakrishnan R., Kalaichelvan K. And Dhanraj R. (2000), "Kinematics and construction of 3-DOF Parallel Manipulator", Proceeding of International Conference on Intelligent Flexible Autonomous Manufacturing Systems (IFAMS 2000), pp.789-795).

[11] Yangmin Li, Qingsong Xu (2006), "Kinematic Analysis and Design of a New 3-DOF Translational Parallel Manipulator", Vol.128 in Journal of Mechanical Design, pp - 729-734.

[12] I. A. Bonev, D. Zlatanov and C. M. Gosselin, "Singularity analysis of 3- DOF planar parallel mechanisms via screw theory," ASME, J. Mech. Design, 125(3), 573-581 (2003).

[13] D. Zlatanov, R. G. Fenton and B. Benhabib. "Identification and classification of the singular configurations of mechanisms," Mech. Mach. Theory 33(6), 743-760 (1998).

[14] Ki lee and Kun Woo park, "Kinematic and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities", in IEEE Transactions on robotics and Automation, December 1999, Vol. 15, no.6, pp 1024-1034.

[15] Pierrot, Fournier and Dauchez, "Toward a fully parallel 6-DOF robot for high speed applications," in IEEE Transactions on robotics and Automation, Feb.1992, vol.7, pp. 15-22.

[16] H. Bruyninckx, "A fully parallel manipulator with closed form position and velocity kinematics," in Proc. IEEE int. Conf. Robot. Automation, Albuquergue, NM, Apr.1997, pp. 2657-2662.

[17] R.Clavel, "DELTA, a fast robot with parallel geometry," in Proc. 18th int. Symp. Industrial Robot, Lausanne, Switzerland, Apr. 1988, pp. 91- 100.