Skip to main content
SpringerLink
Log in

Workspace Analysis of Calibrated Multi-position Synthesized 3-Prismatic-Revolute-Spherical Manipulator

  • Original Contribution
  • Published:
Journal of The Institution of Engineers (India): Series C Aims and scope Submit manuscript

Abstract

This paper presents the workspace analysis of calibrated multi-position synthesized 3-prismatic-revolute-spherical (3-PRS) manipulator. The synthesis and workspace analysis of a multi-position manipulator are carried out by least square and Renka Cline gridding approaches. The position parameters such as position, orientation, direction, location of revolute-spherical joints are designed based on loop techniques. Based on manipulator constraints, the position parameters are synthesized and calibrated by comparing prescribed and obtained positions of revolute and spherical joints. The results are in close agreement with the positions of the 3-PRS manipulator. This work is used to obtain tip-tilt-position of the manipulator and is suitable in surgical, telescopic and space applications.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

Data Availability

Data of manuscript was transparent.

Code Availability

Not applicable.

References

  1. H.S. Kim, L.-W. Tsai, Kinematic synthesis of a spatial 3-RPS parallel manipulator. J. ASME 125, 92–97 (2003). https://doi.org/10.1115/1.1539505

    Article  Google Scholar 

  2. P.S. Rao, N.M. Rao, Position analysis of Spatial 3-RPS parallel manipulator. Int. J. Mech. Eng. Rob. Res. 2(2), 80–90 (2013)

    Google Scholar 

  3. Y. Li, Q. Xu, Kinematic analysis of a 3-PRS parallel manipulator. J. Robot. Comput. Integr. Manuf. 23, 395–408 (2007). https://doi.org/10.1016/j.rcim.2006.04.007

    Article  Google Scholar 

  4. S.R. Pundru, M.R. Nalluri, Spatial three degree of freedom parallel manipulator forward kinematic position analysis. Int. J Eng. Tech. (UAE) 7(4.5), 147–150 (2018). https://doi.org/10.14419/ijet.v7i4.5.20032

    Article  Google Scholar 

  5. S.R. Pundru, M.R. Nalluri, Three degree of freedom spatial parallel manipulator inverse kinematic position analysis. Int. J Eng. Tech. (UAE) 7(45), 98–101 (2018). https://doi.org/10.14419/ijet.v7i4.5.20020

    Article  Google Scholar 

  6. F. Tahmasebi, Kinematics of a new high-precision three-degree- of- freedom parallel manipulator. J. ASME 129, 320–325 (2007). https://doi.org/10.1115/1.2406103

    Article  Google Scholar 

  7. G. Pond, J. Carretero, Singularity analysis and workspace optimization of the inclined PRS manipulator. CSME Forum 1–7 (2004) (Proceedings of the CCToMM M^3 Symposium (2004). www.researchgate.net/profile/Juan_Carretero/publication/229018477

  8. S.R. Pundru, M.R. Nalluri, Synthesis of 3-PRS manipulator using exact method. J. Inst. Eng. India Ser. C 100, 1031–1042 (2019). https://doi.org/10.1007/s40032-018-0499-6

    Article  Google Scholar 

  9. S. Lu, Y. Li, B. Ding, Multi-objective dimensional optimization of a 3-dof translational PKM considering transmission properties. Int. J. Autom. Comput.Autom. Comput. 16, 748–760 (2019). https://doi.org/10.1007/s11633-019-1184-9

    Article  Google Scholar 

  10. S.R. Pundru, M.R. Nalluri, Synthesis of multi-positions 3-prismatic-revolute-spherical manipulator. J. SN Appl. Sci. 1, 1114 (2019). https://doi.org/10.1007/s42452-019-1085-0

    Article  Google Scholar 

  11. S.R. Pundru, M.R. Nalluri, Synthesis of 3-PRS manipulator based on revolute and cone angle of spherical constraints on range of rotational motion of spherical joints. J. Inst. Eng. India Ser. C 102, 209–219 (2021). https://doi.org/10.1007/s40032-020-00599-y

    Article  Google Scholar 

  12. A.Y. Fan LiangZhi, L.X. Elatta, Kinematic calibration for a hybrid 5DOF manipulator based on 3-RPS in-actuated parallel manipulator. Int. J. Adv. Manuf. Technol. 25, 730–734 (2005). https://doi.org/10.1007/s00170-003-1987-1

    Article  Google Scholar 

  13. A. Jain, H.P. Jawale, Study of the effects of link tolerances to estimate mechanical errors in 3-RRS parallel manipulator. J. Mech. Eng. Sci. (2021). https://doi.org/10.1177/09544062211021451

    Article  Google Scholar 

  14. P.S. Rao, Calibrating a synthesized 3-PRS manipulator by minimizing the errors in positions of revolute joints. J. Inst. Eng. India Ser. C 103(5), 1083–1093 (2022). https://doi.org/10.1007/s40032-022-00866-0

    Article  Google Scholar 

  15. Q. Li, Z. Chen, Q. Chen, C. Wu, X. Hu, Parasitic motion comparison of 3-PRS parallel mechanism with different limb arrangements. J. Robot. Comput. Integr. Manuf. 27, 389–396 (2011). https://doi.org/10.1016/j.rcim.2010.08.007

    Article  CAS  Google Scholar 

  16. S.R. Pundru, Synthesis of multi-position 3-PRS manipulator based on spherical constraints by eliminating the parasitic motion. J. Inst. Eng. India Ser. C 103(6), 1447–1454 (2022). https://doi.org/10.1007/s40032-022-00887-9

    Article  Google Scholar 

  17. J.W. Yoon, J. Ryu, Y.K. Hwang, Optimum design of 6-dof parallel manipulator with translational/rotational workspaces for haptic device application. J. Mech. Sci. Technol. 24(5), 1151–1162 (2010). https://doi.org/10.1007/s12206-010-0321-8

    Article  Google Scholar 

  18. J.-S. Zhao, M. Chen, K. Zhou, J.-X. Dong, Z.-J. Feng, Workspace of parallel manipulators with symmetric identical kinematic chains. J. Mech. Mach. Theory 41, 632–645 (2006). https://doi.org/10.1016/j.mechmachtheory.2005.09.007

    Article  MathSciNet  Google Scholar 

  19. Lu. Yi, Xu. Jiayin, Yu. Jianping, Using CAD geometric variation approach machining complex workpiece by a 3-SPR parallel machine tool. Robot. Comput. Integr. Manuf. 26(2), 130–136 (2010). https://doi.org/10.1016/j.rcim.2009.09.003

    Article  Google Scholar 

Download references

Acknowledgements

Very much thankful to Editor. The authors declare that they have no acknowledgments.

Funding

The authors declare that they have no funding.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Mahatma Gandhi Institute of Technology, C.B.I.T (Post), Gandipet, Hyderabad, Telangana State, 500075, India

    Srinivasa Rao Pundru

Authors
  1. Srinivasa Rao Pundru
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by [Srinivasa Rao Pundru]. The first draft of the manuscript was written by [Srinivasa Rao Pundru] and all authors commented on previous versions of the manuscript. All others read and approved the final manuscript. Conceptualization: [Srinivasa Rao Pundru]. Methodology: [Srinivasa Rao Pundru]. Formal analysis and investigation: [Srinivasa Rao Pundru]. Writing-original draft preparation: [Srinivasa Rao Pundru]. Writing-review and editing: [Srinivasa Rao Pundru]. Funding acquisition: The authors declare that they have no funding. Resources: The authors declare that they have no funding resources.

Corresponding author

Correspondence to Srinivasa Rao Pundru.

Ethics declarations

Conflict of interest

The authors declare that they have no conflict of interest.

Disclosure of Potential Conflict of interest

Not applicable.

Potential Conflict of interest (Financial or Non-financial)

Not applicable.

Compliance with Ethical Standards

Not applicable.

Research Involving Human Participants and/or Animals

Not applicable.

Informed Consent

Not applicable.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Pundru, S.R. Workspace Analysis of Calibrated Multi-position Synthesized 3-Prismatic-Revolute-Spherical Manipulator. J. Inst. Eng. India Ser. C 105, 195–214 (2024). https://doi.org/10.1007/s40032-023-01017-9

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40032-023-01017-9

Keywords

Search

Navigation