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
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