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Kinematics of a 3-DOF parallel manipulator with an R-P-S joint structure

Published online by Cambridge University Press:  11 March 2005

Alexei Sokolov  and
Paul Xirouchakis
Alexei Sokolov
Affiliation:
Institute of Production and Robotics (STI-IPR-LICP), Swiss Federal Institute of Technology in Lausanne (EPFL), Lausanne (Switzerland) E-mail: alexei.sokolov@epfl.ch
Paul Xirouchakis
Affiliation:
Institute of Production and Robotics (STI-IPR-LICP), Swiss Federal Institute of Technology in Lausanne (EPFL), Lausanne (Switzerland) E-mail: alexei.sokolov@epfl.ch
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Abstract

A new solution of the inverse kinematics task for a 3-DOF parallel manipulator with a R-P-S joint structure is obtained for a given position of end-effector in the form of simple position equations. Based on this the number of the inverse kinematics task solutions was investigated, in general, equal to four. We identify the size of the manipulator feasible area and simple relationships are found between the position and orientation of the platform. We prove a new theorem stating that, while the end-effector traces a circular horizontal path with its centre at the vertical z-axis, the norm of the joint coordinates vector remains constant.

Keywords

Parallel manipulatorsInverse kinematics problemManipulator feasible area
Type
Research Article
Information
Robotica , Volume 23 , Issue 2 , March 2005 , pp. 207 - 217
Copyright
© 2005 Cambridge University Press

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