Abstract:
Kinematics of a-3RPS parallel pyramid manipulator are
investigated by principal screw. Firstly, the principal screws
are identified by quadric degeneration. The planar conics
representing the relations between the pitches and the three
linear inputs are described, and the three-dimensional
distribution of the axes of all the twists in illustrated.
Finally, a numerical example is given successfully.
Key words: Parallel
manipulator Kinematics Principal screw
*
This project
is supported by National 863 plan (No.863-512-805-9805-01).
Manuscript received on May 19, 2000; revised manuscript August 26, 2000
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