Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator
Keyword(s):
This paper presents the design of spatial 3-RPS parallel manipulators from dimensional synthesis point of view. Since a spatial 3-RPS manipulator has only 3 degrees of freedom, its end effector cannot be positioned arbitrarily in space. It is shown that at most six positions and orientations of the moving platform can be prescribed at will and, given six prescribed positions, there are at most ten RPS chains that can be used to construct up to 120 manipulators. Further, solution methods for fewer than six prescribed positions are also described.
2020 ◽
Vol 234
(23)
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pp. 4599-4619
2012 ◽
Vol 162
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pp. 194-203
2016 ◽
Vol 836
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pp. 42-47
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AN INTERVAL ANALYSIS METHOD FOR WRENCH WORKSPACE DETERMINATION OF PARALLEL MANIPULATOR ARCHITECTURES
2016 ◽
Vol 40
(2)
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pp. 139-154
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2019 ◽
Vol 233
(15)
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pp. 5448-5459
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