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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
出版日期: 2010
会议名称: Proceedings of the SPIE - The International Society for Optical Engineering
会议日期: 2010
通讯作者: Cheng Gang
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
卷号: 7655
文章类型: 会议论文
页码: 76552B (7 pp.)
内容类型: 会议论文
URI标识: http://ir.ioe.ac.cn/handle/181551/7575
Appears in Collections:先光中心_会议论文

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作者单位: 中国科学院光电技术研究所

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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