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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

Figures

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

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