Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion

By R. Gregorio, V. Parenti-Castelli. IEEE ASME International Conference on Advanced Intelligent Mechatronics, 2002

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Constraint singularities of parallel mechanisms (2002, background): “It is no accident that this is similar to the condition for the rotational singularities of the 3-UPU mechanism studied in [5].”
General Methodology for Type Synthesis of Symmetrical Lower-Mobility Parallel Manipulators and Several Novel Manipulators (2002, methodology): “Other architectures of the 3-DoF translational parallel mechanisms are also discussed, such as the 3-RRC parallel mechanism (Tsai 1997) and the 3-UPU parallel mechanism (Di Gregorio and Parenti-Castelli 1999; Tsai 1999, 2000).”
Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots (2005, background): “This phenomena was explained by Bonev and Zlatanov [1] and later in [2, 11].”
Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method (2003, background): “Di Gregorio and Parenti-Castelli (1999) studied the 3-UPU translational PM.”