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TECHNICAL PAPERS

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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References

Figures

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A spatial 3-UPU parallel manipulator
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A vector representation of aibi and the top and base platforms
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Shape of moving platform with the orthocenter outside and inside the triangle respectively.
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Optimized workspace for ϕ1=0 deg, ϕ2=120 deg, and ϕ3=240 deg
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Reciprocal of the condition number at the pz=0.5 plane
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Optimized workspace for ϕ1=310 deg, ϕ2=70 deg, ϕ3=190 deg
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Isotropic configuration of the optimized 3-UPU manipulator, px=0,py=0 and pz=0.262
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Reciprocal of condition number at pz=0.262

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