Abstract
This paper focuses on two 3 – PRS (Prismatic – Revolute – Spherical) parallel manipulators (PMs) carried out by considering three type of singularities. For the study, pin joint forces and torques, linear displacement of nut and mobile platform (MP) tilt of TRIPOD and TRI-GLIDE PMs are taken as important parameters. The singularity positions of the parallel manipulators are simulated in ADAMS environment. The geometrical parameters of the parallel manipulators are considered in logical approach. Based on the results, the concluding remarks are summarized at the end to design the 3 - PRS parallel manipulators with better singular positions for angular drilling in medical applications
Publisher
Blue Eyes Intelligence Engineering and Sciences Engineering and Sciences Publication - BEIESP
Subject
Computer Science Applications,General Engineering,Environmental Engineering
Cited by
2 articles.
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