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Workspace Analysis of 3-RPS Symmetrical Parallel Supporting Structure with Three Degree-of-freedom
Cheng Gang; Wan Yong-Jian; Ge Shi-Rong
Volume7655
Pages76552B (7 pp.)
2010
Language英语
Subtype会议论文
Abstract3-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 NameProceedings of the SPIE - The International Society for Optical Engineering
Conference Date2010
Document Type会议论文
Identifierhttp://ir.ioe.ac.cn/handle/181551/7575
Collection先光中心
Corresponding AuthorCheng 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.).
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