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

Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator

Published:2003-03-01 Issue:1 Volume:125 Page:92-97
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Sung Kim Han¹,Tsai Lung-Wen¹

Affiliation:

1. Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521

Abstract

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.

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/125/1/92/5484113/92_1.pdf

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