Share Email Print
cover

Proceedings Paper

Workspace analysis of 3-RPS symmetrical parallel supporting structure with three degree-of-freedom
Author(s): Gang Cheng; Yong-Jian Wan; Shi-Rong Ge
Format Member Price Non-Member Price
PDF $14.40 $18.00

Paper 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.

Paper Details

Date Published: 7 October 2010
PDF: 7 pages
Proc. SPIE 7655, 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies, 76552B (7 October 2010); doi: 10.1117/12.866708
Show Author Affiliations
Gang Cheng, China Univ. of Mining and Technology (China)
Yong-Jian Wan, Institute of Optics and Electronics (China)
Shi-Rong Ge, China Univ. of Mining and Technology (China)


Published in SPIE Proceedings Vol. 7655:
5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing Technologies
Li Yang; Yoshiharu Namba; David D. Walker; Shengyi Li, Editor(s)

© SPIE. Terms of Use
Back to Top