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Meccanica
Erschienen in: Meccanica 5/2014

01.05.2014

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

verfasst von: M. Urízar, V. Petuya, E. Amezua, A. Hernández

Erschienen in: Meccanica | Ausgabe 5/2014

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Abstract

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.
Vorheriger Artikel An extension of the Levi-Weckesser method to the stabilization of the inverted pendulum under gravity
Nächster Artikel Non-Newtonian mixed elastohydrodynamics of differential hypoid gears at high loads

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Metadaten
Titel
Characterizing the configuration space of the 3-SPS-S spatial orientation parallel manipulator
verfasst von
M. Urízar
V. Petuya
E. Amezua
A. Hernández
Publikationsdatum
01.05.2014
Verlag
Springer Netherlands
Erschienen in
Meccanica / Ausgabe 5/2014
Print ISSN: 0025-6455
Elektronische ISSN: 1572-9648
DOI
https://doi.org/10.1007/s11012-013-9856-y

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