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A comparison study of two 3-DOF parallel manipulators: one with three and the other with four supporting legs

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2 Author(s)
S. Joshi ; Inst. for Syst. Res., Univ. of Maryland, College Park, MD, USA ; Lung-Wen Tsai

This paper presents a comparison study of the well-conditioned workspace and stiffness properties of two 3-degree-of-freedom (DOF) parallel manipulators, one with three supporting limbs and the other with four supporting limbs. The inverse kinematics and Jacobian of these two mechanisms are analyzed. The well-conditioned workspace of each mechanism is maximized and the stiffness properties are determined. A comparison of the results indicates that the Tricept manipulator out performs the 3-UPU parallel manipulator.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:19 ,  Issue: 2 )