A Review of the Literature on the Lower-Mobility Parallel Manipulators of 3-UPU or 3-URU Type

Content Provider	Directory of Open Access Journals (DOAJ)
Author	Raffaele Di Gregorio
Abstract	Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal−prismatic−universal (UPU) type. They were first proposed in the last decade of the 20th century and have animated discussions among researchers for more-or-less two decades. Such discussions brought to light many features of lower-mobility parallel manipulators (PMs) that were unknown until then. The discussions also showed that such architectures may be sized into translational PMs, parallel wrists, or even reconfigurable (metamorphic) PMs. Even though commercial robots with these architectures have not yet been built, the interest in them remains. Consequently, a review of the literature on these architectures, highlighting their contribution to the progress of lower-mobility PM design, is still of interest for the scientific community. This paper aims at presenting a critical review of the results that have been obtained up until now.
Related Links	https://www.mdpi.com/2218-6581/9/1/5
DOI	10.3390/robotics9010005
Journal	Robotics
Issue Number	1
Volume Number	9
e-ISSN	22186581
Language	English
Publisher	MDPI AG
Publisher Date	2020-01-01
Publisher Place	Switzerland
Access Restriction	Open
Subject Keyword	Mechanical Engineering and Machinery Parallel Manipulators Lower Mobility Reconfigurable Mechanism Singularity Locus Constraint Singularities Structural Singularity Mechanical engineering and machinery
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Mechanical Engineering