Numerical and Analytical Analysis of a 3UPS-2RPRRR Parallel Robot

Published in: Industry, Innovation, and Infrastructure for Sustainable Cities and Communities: Proceedings of the 17th LACCEI International Multi-Conference for Engineering, Education and Technology
Date of Conference: July 24-26, 2019
Location of Conference: Montego Bay, Jamaica
Authors: Julio H. Vargas R (Universitat Politècnica de València, ES)
Oscar Agudelo Varela (Universidad de los Llanos, CO)
Angel Valera (Universitat Politècnica de València, ES)
(Universitat Politècnica de València)
Full Paper: #307

Abstract:

This work presents a 3UPS-2RPRR parallel robot and its geometric analysis. The robot has three rotational degrees of freedom and two translational degrees of freedom in the XZ plane. The inverse geometric model was obtained by closed-loop analysis. The direct geometric model was obtained analytically by the representation of the geometrical varieties for each end limb. The intersection of varieties results in a multivariate nonlinear equations system. The nonlinear system was solved founding four assembly modes. We use the free package SageMath. Two solution methods were addressed: direct numerical solution, and Gröbner basis with Toy Buchberger algorithm. Finally, example calculations of inverse and forward geometrical model were analyzed and plotted.