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Characterizing the configuration space of the 3-SPS-S spatial orientation parallel manipulator

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Abstract

In this paper, a complete analysis of configuration space entities of a three-degree-of-freedom spatial orientation manipulator is presented. In particular, the 3-SPS-S architecture with fixed joints located on an orthogonal frame is studied. At the design stage, the evaluation of the workspace of the manipulator constitutes an important issue. Besides, obtaining other entities such as joint space, in which the inputs are established, or the reduced configuration space, entity that relates inputs and outputs, gives an overall idea of the characteristics offered by each design. Comparison among different designs of the 3-SPS-S is carried out, analyzing the ability of transitioning between solutions and its influence on the resultant workspace.

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Acknowledgements

The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Economía y Competitividad (Project DPI2011- 22955), the European Union (Project FP7-CIP-ICT-PSP-2009-3) and the Regional Government of the Basque Country through the Dpto. Educ., Univ. e Investig. (Project IT445-10) and UPV/EHU under program UFI 11/29.

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  1. Department of Mechanical Engineering, Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Alameda de Urquijo s/n, 48013, Bilbao, Spain

    M. Urízar, V. Petuya, E. Amezua & A. Hernández

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  1. M. Urízar
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  2. V. Petuya
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  3. E. Amezua
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  4. A. Hernández
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Correspondence to M. Urízar.

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Urízar, M., Petuya, V., Amezua, E. et al. Characterizing the configuration space of the 3-SPS-S spatial orientation parallel manipulator. Meccanica 49, 1101–1114 (2014). https://doi.org/10.1007/s11012-013-9856-y

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