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Position and Workspace Analyses of 3-SPR and 3-RPS Parallel Manipulators

[+] Author Affiliations
Yi Lu, Yonghe Zhao

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2005-84117, pp. 957-962; 6 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


An analytic approach and a simulation mechanism for solving position and the workspace of a 3-SPR parallel manipulator are proposed. First, a simulation mechanism of the 3-SPR parallel manipulator and a simulation mechanism of the 3-RPS parallel manipulator are created by using the computer aided geometry constraints and dimension-driving techniques. Second, some analytic formulas are derived for inverse and forward solving position and orientation of the 3-SPR parallel manipulator. Third, some available solutions from multi-solutions during deriving analytic formula are determined, and analytic inverse and forward solutions are verified by using simulation mechanisms. Finally, the workspace of the 3-SPR parallel manipulator is created and three key parameters for determining work space of two kinds of parallel manipulators are solved. Calculation results prove that the position working space of the 3-SPR parallel manipulator is much larger than that of the 3-RPS parallel manipulator, and the orientation workspace of the 3-SPR parallel manipulator is less than that of 3-RPS parallel manipulator.

Copyright © 2005 by ASME
Topics: Manipulators



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