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Self-motions of 3-RPS manipulators

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Abstract

Recently a complete kinematic description of the 3-RPS parallel manipulator was obtained using algebraic constraint equations. It turned out that the workspace splits into two components describing two kinematically different operation modes. In this paper the algebraic description is used to give a complete analysis of all possible self-motions of this manipulator in both operation modes. Furthermore it is shown that a transition from one operation mode into the other in a self-motion is possible.

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Authors and Affiliations

  1. Institute for Basic Sciences in Engineering, Unit for Geometry and CAD, University of Innsbruck, Innsbruck, 6020, Austria

    Josef Schadlbauer & Manfred L. Husty

  2. Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS, 6597, France

    Stéphane Caro & Philippe Wengery

Authors
  1. Josef Schadlbauer
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  2. Manfred L. Husty
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  3. Stéphane Caro
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  4. Philippe Wengery
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Corresponding author

Correspondence to Manfred L. Husty.

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Schadlbauer, J., Husty, M.L., Caro, S. et al. Self-motions of 3-RPS manipulators. Front. Mech. Eng. 8, 62–69 (2013). https://doi.org/10.1007/s11465-013-0366-3

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  • DOI: https://doi.org/10.1007/s11465-013-0366-3

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