This paper presents the design of spatial parallel manipulators from dimensional synthesis point of view. Since a spatial manipulator has only 3 degrees of freedom, its end effector cannot be positioned arbitrarily in space. It is shown that at most six positions and orientations of the moving platform can be prescribed at will and, given six prescribed positions, there are at most ten RPS chains that can be used to construct up to 120 manipulators. Further, solution methods for fewer than six prescribed positions are also described.
Kinematic Synthesis of a Spatial Parallel Manipulator
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 2001; revised April 2002. Associate Editor: J. S. Rastegar.
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Sung Kim, H., and Tsai, L. (March 21, 2003). "Kinematic Synthesis of a Spatial Parallel Manipulator ." ASME. J. Mech. Des. March 2003; 125(1): 92–97. https://doi.org/10.1115/1.1539505
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