Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix

• Published in: Science China. Technological sciences Vol. 53; no. 1; pp. 168 - 174
• Main Authors: Sun, Tao, Song, YiMin, Li, YongGang, Liu, LinShan
• Format: Journal Article
• Language: English
• Published: Heidelberg SP Science in China Press 01.01.2010
• Subjects: Engineering; workspace; PKMs (parallel kinematic machines); 3-PRS manipulator; dimensionally homogeneous Jacobian; dimensional synthesis

A study of dimensional synthesis of a 3-DOF parallel manipulator with coupling of translation and rotation is carried out. The architecture of the manipulator is composed of a moving platform attached to a fixed base through three identical PRS (prismatic-revolute-spherical) serial limbs, whose uniq...