Characterizing the configuration space of the 3-SPS-S spatial orientation parallel manipulator

被引：9
|
作者：
Urizar, M. [1 ]
Petuya, V. [1 ]
Amezua, E. [1 ]
Hernandez, A. [1 ]
机构：
[1] Univ Basque Country UPV EHU, Dept Mech Engn, Fac Engn Bilbao, Bilbao 48013, Spain
来源：
MECCANICA | 2014年 / 49卷 / 05期
关键词：
Parallel manipulator; Configuration space; Singularity locus; Non-singular transition; MECHANISMS; WORKSPACE; DEVICE; JOINT; MODES;
D O I：
10.1007/s11012-013-9856-y
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
In this paper, a complete analysis of configuration space entities of a three-degree-of-freedom spatial orientation manipulator is presented. In particular, the 3-SPS-S architecture with fixed joints located on an orthogonal frame is studied. At the design stage, the evaluation of the workspace of the manipulator constitutes an important issue. Besides, obtaining other entities such as joint space, in which the inputs are established, or the reduced configuration space, entity that relates inputs and outputs, gives an overall idea of the characteristics offered by each design. Comparison among different designs of the 3-SPS-S is carried out, analyzing the ability of transitioning between solutions and its influence on the resultant workspace.
引用
收藏
页码：1101 / 1114
页数：14
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