Frontiers of Mechanical Engineering >

2013 , Vol. 8 >Issue 1: 62 - 69

DOI: https://doi.org/10.1007/s11465-013-0366-3

RESEARCH ARTICLE

Self-motions of 3-RPS manipulators

  • Josef SCHADLBAUER 1 ,
  • Manfred L. HUSTY , 1 ,
  • Stéphane CARO 2 ,
  • Philippe WENGERY 2
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  • 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

Received date: 19 Nov 2012

Accepted date: 24 Dec 2012

Published date: 05 Mar 2013

Copyright

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg
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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.

Key words： 3-RPS-manipulator; singularity; self-motion

Cite this article

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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