Workspace analysis of 3-RPS symmetrical parallel supporting structure with three degree-of-freedom

Gang Cheng; Yong-Jian Wan; Shi-Rong Ge

doi:10.1117/12.866708

6 October 2010 Workspace analysis of 3-RPS symmetrical parallel supporting structure with three degree-of-freedom

Gang Cheng, Yong-Jian Wan, Shi-Rong Ge

Proceedings Volume 7655, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies; 76552B (2010) https://doi.org/10.1117/12.866708
Event: 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies, 2010, Dalian, China

Abstract

3-RPS symmetrical parallel manipulator is the key part of the parallel supporting structure. According to the structure characteristics of the manipulator, three interference conditions of the limbs are obtained and the conditions are appeared after reverse position of the moving platform. So no interference condition can exist in the reachable workspace of the manipulator. The numerical simulations show that the end-effector can augment effectively the workspace. The workspace is symmetrical on X-axis and asymmetrical on Y-axis and Z-axis. Because of the value restriction of structure parameters, the workspace sections of the origin of the moving platform are similar with the curved surface of the endeffector. The extremum of workspace along negative Y-axis is greater than the extremum of workspace along positive Yaxis, but the extremums of workspace along two directions of X-axis are equal.

Citation Download Citation

Gang Cheng, Yong-Jian Wan, and Shi-Rong Ge "Workspace analysis of 3-RPS symmetrical parallel supporting structure with three degree-of-freedom", Proc. SPIE 7655, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies, 76552B (6 October 2010); https://doi.org/10.1117/12.866708

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available