| Workspace Analysis of 3-RPS Symmetrical Parallel Supporting Structure with Three Degree-of-freedom | |
| Cheng Gang; Wan Yong-Jian; Ge Shi-Rong | |
| Volume | 7655 |
| Pages | 76552B (7 pp.) |
| 2010 | |
| Language | 英语 |
| Subtype | 会议论文 |
| 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 end-effector. The extremum of workspace along negative Y-axis is greater than the extremum of workspace along positive Y-axis, but the extremums of workspace along two directions of X-axis are equal.; 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 end-effector. The extremum of workspace along negative Y-axis is greater than the extremum of workspace along positive Y-axis, but the extremums of workspace along two directions of X-axis are equal. |
| Conference Name | Proceedings of the SPIE - The International Society for Optical Engineering |
| Conference Date | 2010 |
| Document Type | 会议论文 |
| Identifier | http://ir.ioe.ac.cn/handle/181551/7575 |
| Collection | 先光中心 |
| Corresponding Author | Cheng Gang |
| Affiliation | 中国科学院光电技术研究所 |
| Recommended Citation GB/T 7714 | Cheng Gang,Wan Yong-Jian,Ge Shi-Rong. Workspace Analysis of 3-RPS Symmetrical Parallel Supporting Structure with Three Degree-of-freedom[C],2010:76552B (7 pp.). |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| 2010-137.pdf（874KB） | 会议论文 | 开放获取 | CC BY-NC-SA | Application Full Text | ||
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