| contributor author | Johnson, Andrew | |
| contributor author | Kong, Xianwen | |
| contributor author | Ritchie, James | |
| date accessioned | 2017-05-09T01:31:17Z | |
| date available | 2017-05-09T01:31:17Z | |
| date issued | 2016 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_008_02_024501.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161883 | |
| description abstract | The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtualchain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a threedimensional (3D) computeraideddesign (CAD) model of a 3RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Determination of the Workspace of a Three Degrees of Freedom Parallel Manipulator Using a Three Dimensional Computer Aided Design Software Package and the Concept of Virtual Chains1 | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4031656 | |
| journal fristpage | 24501 | |
| journal lastpage | 24501 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 002 | |
| contenttype | Fulltext | |