Abstract

This paper discusses kinematics of a 3-RPS parallel pyramid manipulator using the principal screws. Firstly, the principal screws are identified by quadric degeneration. The planar conies representing the relations between the pitches and the three linear inputs are described, and the three-dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully.

Volume Subject Area:
26th Biennial Mechanisms and Robotics Conference
Keywords:
parallel manipulator, kinematics, principal screw, imaginary mechanism
Topics:
Kinematics, Manipulators, Screws
This content is only available via PDF.
Copyright © 2000 by ASME
You do not currently have access to this content.