Equivalent Kinematic Chains of Three Degree-of-Freedom Tripod Mechanisms With Planar-Spherical Bonds

[+] Author and Article Information
Patrick Huynh

Ngee Ann Polytechnic, School of Engineering, Mechanical Engineering Division, 599489 Singaporee-mail: hup@np.edu.sg

Jacques M. Hervé

Ecole Centrale Paris, Recherches Mécaniques, 92295 Cha⁁tenay-Malabry, Francee-mail: jherve@ecp.fr

J. Mech. Des 127(1), 95-102 (Mar 02, 2005) (8 pages) doi:10.1115/1.1825439 History: Received March 19, 2003; Revised May 10, 2004; Online March 02, 2005
Copyright © 2005 by ASME
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Grahic Jump Location
Two families of generators of a planar-spherical bond
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Generator of subgroup {G(Pl)}
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Other generators of subgroup {G(PI)}
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Generator of subgroup {S(N)}
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Mobility of a general 3-DOF tripod
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Limbs of the family RP(S)
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Limbs of the subfamily R(CRR)
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Limbs of the subfamily P(CRR)
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Limbs of the type PP(HRR)
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Limbs of the type RP(CR)
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Limbs of the type Pl(HR)
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Equivalent kinematic chains of 3-DOF 3-RPS tripods
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Rotation axes of the mobile platform
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A linear type 3-DOF parallel mechanism
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3-DOF 3-RPS tripod actuated mechanism



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