Abstract
In this paper, we present an analytical model of the kinematics of the spherical 3-UPU parallel manipulator. This model was used to show that up to eight solutions can be found for the forward kinematic problem. The analytical expression of the Jacobean matrix is used to analyse the singularity of this manipulator. We show, in particular, that this manipulator does not have singular configurations within its workspace. Two case studies, one with three degrees of freedom and a second one with only two degrees of freedom, are chosen to illustrate the proposed analysis.
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