Resumen de Kinematic modeling and dexterity evaluation of a PS-RRS-2RUS parallel manipulator used for controllable pitch propelle

Chuanping Zhang, Yuan Chen, Han Xu, Mingduo Hu, Rongmin Zhang

• This article investigates the kinematic modeling and dexterity evaluation of a PS-RRS-2RUS parallel manipulator. The design concept and mobility analysis of the manipulator are rst addressed utilizing the screw theory. Second, the decoupled and closed-form kinematic solutions with multiple congurations are solved through vector method. Then, the analytical expressions for the velocity relationships are derived into a closed-form Jacobian matrix, which is then used to distinguish the singular postures. Finally, the workspace with xed orientation is calculated and its dexterity is evaluated. The numerical simulations and validation are conducted in a case study