| 题名: | Workspace Analysis of 3-RPS Symmetrical Parallel Supporting Structure with Three Degree-of-freedom |
| 作者: | Cheng Gang; Wan Yong-Jian; Ge Shi-Rong
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| 出版日期: | 2010
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| 会议名称: | Proceedings of the SPIE - The International Society for Optical Engineering
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| 会议日期: | 2010
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| 通讯作者: | Cheng Gang
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| 中文摘要: | 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. |
| 英文摘要: | 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. |
| 语种: | 英语
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| 卷号: | 7655
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| 文章类型: | 会议论文
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| 页码: | 76552B (7 pp.)
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| 内容类型: | 会议论文
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| URI标识: | http://ir.ioe.ac.cn/handle/181551/7575
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| Appears in Collections: | 先光中心_会议论文
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| 2010-137.pdf（874KB） | 会议论文 | -- | 限制开放 | | View
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| Recommended Citation: | |
Cheng Gang,Wan Yong-Jian,Ge Shi-Rong. Workspace Analysis of 3-RPS Symmetrical Parallel Supporting Structure with Three Degree-of-freedom[C]. 见:Proceedings of the SPIE - The International Society for Optical Engineering. 2010.
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