Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator

[+] Author and Article Information
Lung-Wen Tsai

Department of Mechanical Engineering, Bourns College of Engineering, University of Riverside, Riverside, CA 92521e-mail: lwtsai@engr.ucr.edu

Sameer Joshi

Department of Mechanical Engineering and Institute for Systems Research, University of Maryland, College Park, MD 20742e-mail: sameer@isr.umd.edu

J. Mech. Des 122(4), 439-446 (Sep 01, 1999) (8 pages) doi:10.1115/1.1311612 History: Received September 01, 1999
Copyright © 2000 by ASME
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Grahic Jump Location
A spatial 3-UPU parallel manipulator
Grahic Jump Location
A vector representation of aibi and the top and base platforms
Grahic Jump Location
Shape of moving platform with the orthocenter outside and inside the triangle respectively.
Grahic Jump Location
Optimized workspace for ϕ1=0 deg, ϕ2=120 deg, and ϕ3=240 deg
Grahic Jump Location
Reciprocal of the condition number at the pz=0.5 plane
Grahic Jump Location
Optimized workspace for ϕ1=310 deg, ϕ2=70 deg, ϕ3=190 deg
Grahic Jump Location
Isotropic configuration of the optimized 3-UPU manipulator, px=0,py=0 and pz=0.262
Grahic Jump Location
Reciprocal of condition number at pz=0.262




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