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Kinematics of a 3-DOF parallel manipulator with an R-P-S joint structure

Published online by Cambridge University Press:  11 March 2005

Alexei Sokolov
Affiliation:
Institute of Production and Robotics (STI-IPR-LICP), Swiss Federal Institute of Technology in Lausanne (EPFL), Lausanne (Switzerland) E-mail: [email protected]
Paul Xirouchakis
Affiliation:
Institute of Production and Robotics (STI-IPR-LICP), Swiss Federal Institute of Technology in Lausanne (EPFL), Lausanne (Switzerland) E-mail: [email protected]

Abstract

A new solution of the inverse kinematics task for a 3-DOF parallel manipulator with a R-P-S joint structure is obtained for a given position of end-effector in the form of simple position equations. Based on this the number of the inverse kinematics task solutions was investigated, in general, equal to four. We identify the size of the manipulator feasible area and simple relationships are found between the position and orientation of the platform. We prove a new theorem stating that, while the end-effector traces a circular horizontal path with its centre at the vertical z-axis, the norm of the joint coordinates vector remains constant.

Type
Research Article
Copyright
© 2005 Cambridge University Press

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