The author of Ref. 1 proposes a “new” high-precision three-degree-of-freedom parallel manipulator. The paper discusses the inverse and forward displacement solutions for the 3-PRS manipulator, which is formed by three identical limbs, each containing an actuated prismatic joint (P) followed by a passive perpendicular revolute joint (R), a fixed-length leg, and a passive spherical joint (S), which attaches to the moving platform. In Ref. 1, the three active prismatic joints intersect at the center of the base platform and are contained within the base plane while being separated by 120deg from one another.

We would like to bring to the readers’ attention that although Tahmasebi (1) presents some interesting implementation issues, the same 3-PRS manipulator was first presented in 1997 by Carretero et al. (2). In March 2000, an improved version...

1.
Tahmasebi
,
F.
, 2007, “
Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator
,”
ASME J. Mech. Des.
1050-0472,
129
(
3
), pp.
320
325
.
2.
Carretero
,
J. A.
,
Nahon
,
M.
,
Gosselin
,
C. M.
, and
Buckham
,
B.
, 1997, “
Kinematic Analysis of A Three-DOF Parallel Mechanism for Telescope Applications
,”
Proceedings of the 1997 ASME Design Engineering Technical Conferences
,
Sacramento, CA
, Sept.
3.
Carretero
,
J. A.
,
Podhorodeski
,
R. P.
,
Nahon
,
M. A.
, and
Gosselin
,
C. M.
, 2000, “
Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator
,”
ASME J. Mech. Des.
1050-0472,
122
(
1
), pp.
17
24
.
4.
Tsai
,
M.-S.
,
Shiau
,
T.-N.
,
Tsai
,
Y.-J.
, and
Chang
,
T.-H.
, 2003, “
Direct Kinematic Analysis of a 3-PRS Parallel Manipulator
,”
Mech. Mach. Theory
0094-114X,
38
(
1
), pp.
71
83
.
5.
Liu
,
D.
,
Xu
,
Y.
, and
Fei
,
R.
, 2003, “
Study of an Intelligent Micro-Manipulator
,”
J. Mater. Process. Technol.
0924-0136,
139
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3
), pp.
77
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.
6.
Carretero
,
J. A.
,
Podhorodeski
,
R. P.
, and
Nahon
,
M.
, 1998, “
Architecture Optimization of a Three DOF Parallel Manipulator
,”
Proceedings of the 1998 ASME Design Engineering Technical Conferences
,
Atlanta, GA
, Sept.
7.
Ebrahimi Moghaddam
,
I.
, and
Bahrami
,
M.
, 2005, “
A Numerical Algorithm for Solving Displacement Kinematics of Parallel Manipulators
,”
IECON 2005: 31st Annual Conference of the IEEE Industrial Electronics Society
,
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, Nov. pp.
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8.
Pond
,
G. T.
, and
Carretero
,
J. A.
, 2004, “
Kinematic Analysis and Workspace Determination of the Inclined PRS Parallel Manipulator
,”
Proceedings of the 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2004)
,
Saint-Hubert (Montreal), Quebec, Canada
, Jun. 14–18.
9.
van Driel
,
C. G.
, and
Carretero
,
J. A.
, 2005, “
Calibration of the 3-PRS Parallel Manipulator Using a Motion Capture System
,”
CSME Transactions
,
29
(
4
), pp.
645
654
.
10.
Carretero
,
J. A.
,
Nahon
,
M. A.
, and
Podhorodeski
,
R. P.
, 2000, “
Workspace Analysis and Optimization of a Novel 3-DOF Parallel Manipulator
,”
Int. J. Rob. Autom.
0826-8185,
15
(
4
), pp.
178
188
.
11.
Pond
,
G. T.
, and
Carretero
,
J. A.
, 2006, “
Formulating Jacobian Matrices for the Dexterity Analysis of Parallel Manipulators
,”
Mech. Mach. Theory
0094-114X,
41
(
12
), pp.
1505
1519
.
12.
Li
,
Y.
, and
Xu
,
Q.
, 2004, “
Kinematic and Stiffness Analysis for a General 3-PRS Spatial Parallel Manipulator
,”
Proceedings of the 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2004)
,
Saint-Hubert (Montreal), Quebec, Canada
, Jun. 14–18.
13.
Merlet
,
J.-P.
, 2001, “
Micro Parallel Robot MIPS for Medical Applications
,”
Proceedings of the Eighth International Conference on Emerging Technologies and Factory Automation (ETFA 2001)
,
Antibes-Juan les pins, France
, Oct. 15–18.
14.
Fan
,
K.-C.
,
Wang
,
H.
,
Zhao
,
J.-W.
, and
Chang
,
T.-H.
, 2003, “
Sensitivity Analysis of the 3-PRS Parallel Kinematic Spindle Platform of a Serial-Parallel Machine Tool
,”
Int. J. Mach. Tools Manuf.
0890-6955,
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