3-PRRS tripod type parallel manipulator is formed by connecting the moving and fixed platforms through three legs of PRRS type, where P, R, and S denote the prismatic, revolute, and spherical kinematic pairs, respectively. The 3-PRRS type tripod has three active rotational and three passive translational DOFs. In this paper a workspace without singular configurations of the 3-PRRS type tripod are defined. Constraints on the movement of the moving platform are derived. Dependent and independent parameters for determining the movement of the moving platform are obtained. Jacobi matrices relating the velocities of the moving platform and input links are derived, and a workspace without singular configurations is determined.


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    Title :

    Defining a Workspace Without Singular Configurations of 3-PRRS Type Tripod


    Additional title:

    Mechan. Machine Science



    Conference:

    Combined IFToMM Symposium of RoManSy and the USCToMM Symposium on Mechanical Systems and Robotics ; 2024 ; Saint Petersburg, FL, USA May 22, 2024 - May 24, 2024


    Published in:

    Proceedings of MSR-RoManSy 2024 ; Chapter : 12 ; 143-153


    Publication date :

    2024-05-29


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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