Multi-position Dimensional Synthesis of a Spatial 3-RPS Parallel Manipulator

[+] Author and Article Information
Nalluri Mohan Rao, K. Mallikarjuna Rao

Department of Mechanical Engineering, College of Engineering, J.N.T.University, Kakinada - 533 003, A.P., India

J. Mech. Des 128(4), 815-819 (Aug 15, 2005) (5 pages) doi:10.1115/1.2205872 History: Received March 25, 2005; Revised August 15, 2005

This paper presents dimensional synthesis of a 3 degrees of freedom (DOF) spatial 3-revolute-prismatic-spherical (RPS) parallel manipulator. Tsai and Kim ((2003) ASME J. Mech. Des., 125, pp. 92–97) have shown that the dimensional synthesis can be carried out for at the most six prescribed positions and orientations of the moving platform. The method of synthesis is modified (least-square technique) to make it possible to synthesize the 3-RPS manipulator for any number of positions and orientations of the moving platform. The effectiveness of the modified method of synthesis is demonstrated by considering an example for ten-position synthesis. The modified method of synthesis is an approximation method.

Copyright © 2006 by American Society of Mechanical Engineers
Topics: Manipulators
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Grahic Jump Location
Figure 1

Spatial 3-RPS parallel manipulator

Grahic Jump Location
Figure 2

A manipulator constructed from the first three solutions



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