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TECHNICAL PAPERS

Direct Singular Positions of 3RPS Parallel Manipulators

[+] Author and Article Information
C. H. Liu

Department of Mechanical and Electro-mechanical Engineering, Tamkang University, Tamsui, Taipei County, Taiwan 251, Republic of China

Shengchia Cheng

Chi Mei Optoelectronics Corp., No. 12, Nanke 8th Road, Tainan Science-Based Industrial Park, Taiwan 74144, ROC

J. Mech. Des 126(6), 1006-1016 (Feb 14, 2005) (11 pages) doi:10.1115/1.1803851 History: Received March 27, 2003; Revised March 17, 2004; Online February 14, 2005
Copyright © 2004 by ASME
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References

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Figures

Grahic Jump Location
A 3RPS parallel manipulator
Grahic Jump Location
The point B1 can be represented by coordinates d1p and d1n
Grahic Jump Location
Projection of the edge B2B3 on the base platform (triangle B1B2B3 is projection of triangle B1B2B3 on the base platform)
Grahic Jump Location
A cross section of the hexagonal cylinder
Grahic Jump Location
Projection of the moving platform on the fixed based
Grahic Jump Location
Three direct singular positions for the case (h1,h2,h3)=(−0.9397,0.1736,0.7660), and w=1.5
Grahic Jump Location
Three direct singular positions for the case (h1,h2,h3)=(−0.9397,0.1736,0.7660), and w=3.0
Grahic Jump Location
The first singular configuration for the case (h1,h2,h3)=(−1.4096,0.2605,1.1491),w=1.5: (a) top view, (b) side view
Grahic Jump Location
The second singular configuration for the case (h1,h2,h3)=(−1.4096,0.2605,1.1491),w=1.5: (a) top view, (b) side view
Grahic Jump Location
Direct singular configuration for the case (h1,h2,h3)=(−0.75,1.5,−0.75), and w=1.5; front view
Grahic Jump Location
Direct singular position for the case (h1,h2,h3)=(0,0,0),w=1.5

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