Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters

Abstract : It is known that a 3-RPS parallel manipulator with an equilateral triangle base and an equilateral triangle platform has two operation modes [1] whereas a 3-RPS cube manipulator with a cube shaped base and an equilateral triangle platform has only one operation mode [2]. This behavior is indeed a result of the difference in the architectures of these manipulators. Therefore, this paper deals with the operation mode analysis of 3-RPS parallel manipulators based on their design parameters. Study's kinematic mapping is exploited to derive the constraint equations of the manipulators under study. A linear combination of the constraint equations independent of the joint variables is compared with a general quadric in the 7-dimensional projec-tive space P 7 to obtain some relations between the design parameters of 3-RPS manipulators with coplanar revolute joints, such that those manipulators have two operation modes. Some special cases and a numerical example are considered to emphasize the proposed approach and highlight the contributions of the paper.
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Computer Aided Geometric Design, Elsevier, 2018, 63, pp.122 - 134. 〈10.1016/j.cagd.2018.05.003〉
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Contributeur : Stéphane Caro <>
Soumis le : vendredi 24 août 2018 - 13:30:51
Dernière modification le : mardi 2 octobre 2018 - 14:59:45

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Abhilash Nayak, Thomas Stigger, Manfred Husty, Philippe Wenger, Stéphane Caro. Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters. Computer Aided Geometric Design, Elsevier, 2018, 63, pp.122 - 134. 〈10.1016/j.cagd.2018.05.003〉. 〈hal-01860789〉

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