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TECHNICAL PAPERS

Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms With Joint Constraints

[+] Author and Article Information
Mircea Badescu, Constantinos Mavroidis

Robotics and Mechatronics Laboratory, Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA 02115

J. Mech. Des 126(2), 291-300 (May 05, 2004) (10 pages) doi:10.1115/1.1667922 History: Received September 01, 2002; Revised July 01, 2003; Online May 05, 2004
Copyright © 2004 by ASME
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References

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Figures

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Two-arm reconfigurable robot with 3-DOF parallel platform modules
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The 3-UPU parallel platform
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The 3-UPS parallel platform
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Joint axes in the 3-UPU platform
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Joint axes in the 3-UPS platform
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Coordinate systems of the 3-UPS platform
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Workspace volume of the 3-UPU platform
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Average of the inverse of the condition number of the 3-UPU platform
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Global condition index of the 3-UPU platform
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Workspace without angular constraints (ci=0.27 and si=85%) of the 3-UPU platform
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Workspace with angular constraints (ci=0.27 and si=85%) of the 3-UPU platform
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Workspace of the optimal unconstrained configuration of the 3-UPS platform
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Workspace of the optimal constrained configuration of the 3-UPS platform
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Top view of the unconstrained and constrained workspaces for fixed twist of 0.0 deg of the 3-UPS platform
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Top view of the unconstrained and constrained workspaces for fixed twist of 30 deg of the 3-UPS platform

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