{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:04:48Z","timestamp":1760238288935,"version":"build-2065373602"},"reference-count":19,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,7,31]],"date-time":"2020-07-31T00:00:00Z","timestamp":1596153600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100007109","name":"Universit\u00e0 degli Studi di Ferrara","doi-asserted-by":"publisher","award":["FAR2019"],"award-info":[{"award-number":["FAR2019"]}],"id":[{"id":"10.13039\/501100007109","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Translational parallel manipulators (TPMs) with DELTA-like architectures are the most known and affirmed ones, even though many other TPM architectures have been proposed and studied in the literature. In a recent patent application, this author has presented a TPM with three equal limbs of Universal-Revolute-Universal (URU) type, with only one actuated joint per limb, which has overall size and characteristics similar to DELTA robots. The presented translational 3-URU architecture is different from other 3-URUs, proposed in the literature, since it has the actuators on the frame (base) even though the actuated joints are not on the base, and it features a particular geometry. Choosing the geometry and the actuated joints highly affects 3-URU\u2019s behavior. Moreover, putting the actuators on the base allows a substantial reduction of the mobile masses, thus promising good dynamic performances, and makes the remaining part of the limb a simple chain constituted by only passive R-pairs. The paper addresses the kinematics and the singularity analysis of this novel TPM and proves the effectiveness of the new design choices. The results presented here form the technical basis for the above-mentioned patent application.<\/jats:p>","DOI":"10.3390\/robotics9030060","type":"journal-article","created":{"date-parts":[[2020,8,3]],"date-time":"2020-08-03T03:16:46Z","timestamp":1596424606000},"page":"60","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Novel 3-URU Architecture with Actuators on the Base: Kinematics and Singularity Analysis"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3925-3016","authenticated-orcid":false,"given":"Raffaele","family":"Di Gregorio","sequence":"first","affiliation":[{"name":"Department of Engineering, University of Ferrara, 44122 Ferrara, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,7,31]]},"reference":[{"key":"ref_1","unstructured":"Clavel, R. (1988, January 26\u201328). 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Manuf."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"874","DOI":"10.1299\/jamdsm.2.874","article-title":"Kinematic Design of 3-URU Pure Rotational Parallel Mechanism with Consideration of Uncompensatable Error","volume":"2","author":"Huda","year":"2008","journal-title":"J. Adv. Mech. Des. Syst. Manuf."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Ferraresi, C., and Quaglia, G. (2018). A Novel Reconfigurable 3-URU Parallel Platform. Advances in Service and Industrial Robotics, Springer.","DOI":"10.1007\/978-3-319-61276-8"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Lenarcic, J., and Husty, M.L. (1998). A Translational 3-DOF Parallel Manipulator. Advances in Robot. Kinematics: Analysis and Control, Kluwer.","DOI":"10.1007\/978-94-015-9064-8"},{"key":"ref_16","unstructured":"Ardema, M.D. (2005). Newton-Euler Dynamics, Springer."},{"key":"ref_17","unstructured":"Hunt, K.H. (1990). 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[8th ed.].","DOI":"10.1017\/CBO9780511818097"}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/9\/3\/60\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T09:53:23Z","timestamp":1760176403000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/9\/3\/60"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7,31]]},"references-count":19,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2020,9]]}},"alternative-id":["robotics9030060"],"URL":"https:\/\/doi.org\/10.3390\/robotics9030060","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2020,7,31]]}}}