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Frontiers of Mechanical Engineering

Front Mech Eng    2013, Vol. 8 Issue (1) : 62-69     https://doi.org/10.1007/s11465-013-0366-3
RESEARCH ARTICLE |
Self-motions of 3-RPS manipulators
Josef SCHADLBAUER1, Manfred L. HUSTY1(), Stéphane CARO2, Philippe WENGERY2
1. Institute for Basic Sciences in Engineering, Unit for Geometry and CAD, University of Innsbruck, Innsbruck 6020, Austria; 2. Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS 6597, France
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Abstract

Recently a complete kinematic description of the 3-RPS parallel manipulator was obtained using algebraic constraint equations. It turned out that the workspace splits into two components describing two kinematically different operation modes. In this paper the algebraic description is used to give a complete analysis of all possible self-motions of this manipulator in both operation modes. Furthermore it is shown that a transition from one operation mode into the other in a self-motion is possible.

Keywords 3-RPS-manipulator      singularity      self-motion     
Corresponding Authors: HUSTY Manfred L.,Email:manfred.husty@uibk.ac.at   
Issue Date: 05 March 2013
 Cite this article:   
Josef SCHADLBAUER,Manfred L. HUSTY,Stéphane CARO, et al. Self-motions of 3-RPS manipulators[J]. Front Mech Eng, 2013, 8(1): 62-69.
 URL:  
http://journal.hep.com.cn/fme/EN/10.1007/s11465-013-0366-3
http://journal.hep.com.cn/fme/EN/Y2013/V8/I1/62
Fig.1  Design of the 3-RPS parallel robot
Fig.2  Two poses of the self-motion (Case 1(a))
Fig.3  Special case = 2
Fig.4  Case 2(a): = 3,
Fig.5  Changing the operation mode during a self-motion
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