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Browse Journals & Magazines > Robotics and Automation, IEEE ...> Volume:19 Issue:2 Help

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)
Joshi, S. ; Inst. for Syst. Res., Univ. of Maryland, College Park, MD, USA ; Tsai, L.-W.

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

Date of Publication: Apr 2003

Page(s):
200 - 209
ISSN :
1042-296X
INSPEC Accession Number:
7573039
Digital Object Identifier :
10.1109/TRA.2003.808857
Product Type:
Journals & Magazines
Date of Current Version :
08 April 2003
Issue Date :
Apr 2003
Sponsored by :
IEEE Robotics and Automation Society

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