Multi-position Dimensional Synthesis of a Spatial 3-RPS Parallel Manipulator-Reference-Cited by-同舟云学术

Multi-position Dimensional Synthesis of a Spatial 3-RPS Parallel Manipulator

Published:2005-08-15 Issue:4 Volume:128 Page:815-819
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Mohan Rao Nalluri¹,Mallikarjuna Rao K.¹

Affiliation:

1. Department of Mechanical Engineering, College of Engineering, J.N.T.University, Kakinada - 533 003, A.P., India

Abstract

This paper presents dimensional synthesis of a 3 degrees of freedom (DOF) spatial 3-revolute-prismatic-spherical (RPS) parallel manipulator. Tsai and Kim ((2003) ASME J. Mech. Des., 125, pp. 92–97) have shown that the dimensional synthesis can be carried out for at the most six prescribed positions and orientations of the moving platform. The method of synthesis is modified (least-square technique) to make it possible to synthesize the 3-RPS manipulator for any number of positions and orientations of the moving platform. The effectiveness of the modified method of synthesis is demonstrated by considering an example for ten-position synthesis. The modified method of synthesis is an approximation method.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/128/4/815/5922361/815_1.pdf

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