Kinematic and Singularity Analysis of PRoM-120 – A Parallel Robotic Manipulator with 2-PRU/PRS Kinematic Chains




PRoM-120, Screw System, Kinematic Analysis, Singularity Analysis


PRoM-120 was a parallel robotic manipulator which constructed by 2-PRU/PRS kinematic chains. The mobility of this manipulator was 3 DOF, i.e. 1 translational DOF, and 2 rotational DOF (1T2R). The objective of this research was to analyze kinematic, and singularity of PRoM-120 based on its geometrical configuration. Inverse kinematics and velocity analysis were carried out by applying loop vector equation. Meanwhile, all screw systems existed in PRoM-120 were derived using screw theory. Singularity analysis revealed that PRoM-120 had no constraint singularity within its workspace. The kinematic singularity of PRoM-120 showed similar condition to transmission singularity. Three types of both singularities were examined and presented for general condition and selected numerical value of kinematic constants having by PRoM-120. The selected numerical values of those kinematic constants showed only one pose for the singular condition, which was the direct kinematic or the output transmission singularity.

Author Biography

Adriyan Adriyan, Sekolah Tinggi Teknologi Nasional Jambi

Department of Mechanical Engineering


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