Analysis of Design Parameters in Platform Manipulators

[+] Author and Article Information
Zhiming Ji

Department of Mechanical Engineering, New Jersey Institute of Technology, Newark, NJ 07102

J. Mech. Des 118(4), 526-531 (Dec 01, 1996) (6 pages) doi:10.1115/1.2826923 History: Received November 01, 1995; Revised July 01, 1996; Online December 11, 2007


Multi-loop parallel structures of platform manipulators present challenge to their design analysis. For studying the workspace of the 3-6 class of platforms, we developed the “vertex space” concept in Ji (1994). This paper extends the “vertex space,” concept to other structures for analysing and comparing their workspaces. We classify the vertices of the platform manipulators into types A and B. The platform manipulators are then divided into four groups based on their vertex types. Design parameters in platform manipulators are studied in terms of their functions and effects to vertex spaces and workspace.

Copyright © 1996 by The American Society of Mechanical Engineers
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