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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

Figures

Grahic Jump Location
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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