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Article Dans Une Revue Frontiers of Mechanical Engineering Année : 2013

Self-Motions of 3-RPS Manipulators

Résumé

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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Dates et versions

hal-00914024 , version 1 (19-11-2014)

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Josef Schadlbauer, Manfred Husty, Stéphane Caro, Philippe Wenger. Self-Motions of 3-RPS Manipulators. Frontiers of Mechanical Engineering, 2013, 8 (1), pp.62-69. ⟨10.1007/s11465-013-0366-3⟩. ⟨hal-00914024⟩
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