2013, Volume 8, Issue 1
Frontiers of Mechanical Engineering >> 2013, Volume 8, Issue 1 doi: 10.1007/s11465-013-0366-3
Self-motions of 3-RPS manipulators
1. Institute for Basic Sciences in Engineering, Unit for Geometry and CAD, University of Innsbruck, Innsbruck 6020, Austria
2. Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS 6597, France
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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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