Frontiers of Mechanical Engineering >
Self-motions of 3-RPS manipulators
Received date: 19 Nov 2012
Accepted date: 24 Dec 2012
Published date: 05 Mar 2013
Copyright
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.
Key words: 3-RPS-manipulator; singularity; self-motion
Josef SCHADLBAUER , Manfred L. HUSTY , Stéphane CARO , Philippe WENGERY . Self-motions of 3-RPS manipulators[J]. Frontiers of Mechanical Engineering, 2013 , 8(1) : 62 -69 . DOI: 10.1007/s11465-013-0366-3
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