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TECHNICAL PAPERS

Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator

[+] Author and Article Information
Han Sung Kim, Lung-Wen Tsai

Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521

J. Mech. Des 125(1), 92-97 (Mar 21, 2003) (6 pages) doi:10.1115/1.1539505 History: Received July 01, 2001; Revised April 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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References

Giddings and Lewis, 1995, Giddings and Lewis Automation Technology, Fond du Lac, WI.
Aronson,  R. B., 1996, “A Bright Horizon for Machine Tool Technology,” Manuf. Eng., 116(3), pp. 57–59.
Lee, K. M., and Shah, D. K., 1987, “Kinematic Analysis of a Three Degree Freedom In-Parallel Actuated Manipulator,” Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, pp. 345–350.
Yang, P. H., Waldron, K. J., and Orin, D. E., 1996, “Kinematics of a Three Degree-of-Freedom Motion Platform for a Low-Cost Driving Simulator,” Advances in Robot Kinematics, J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publishers, pp. 89–98.
Song,  S. M., and Zhang,  M. D., 1995, “A Study of Reaction Force Compensation Based on Three-Degree-Freedom Parallel Platform,” J. Rob. Syst., 12(12), pp. 783–794.
Liao,  Q., and McCarthy,  J. M., 2001, “On the Seven Position Synthesis of a 5-SS Platform Linkage,” ASME J. Mech. Des., 123, pp. 74–79.
Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, New York, N.Y., pp. 142–151.

Figures

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A spatial 3-RPS parallel manipulator
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Schematic diagram of an RPS limb
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Leg length, platform position, and orientation as a function of ϕ
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Six positions of a manipulator constructed by using the first three solutions as the supporting limbs
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Six positions of a manipulator constructed by using the last three solutions as the supporting limbs
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A manipulator synthesized for four specified positions of the moving platform and the vector
Grahic Jump Location
A manipulator synthesized for four specified positions of the moving platform and the vector b

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