By Topic

Design and kinematics of a three-legged parallel manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
P. B. Goldsmith ; Dept. of Mech. & Manuf. Eng., Univ. of Calgary, Canada

This paper investigates the kinematics and stiffness of an isotropic three-legged manipulator having six degrees of freedom. Rotary motors at the base rotate the tool by using the extensible legs as drive shafts. The manipulator has the positional stiffness of a parallel manipulator and the rotational stiffness of a serial manipulator. Low inertia results from having only three legs and having three motors fixed at the base. The inverse kinematics are obtained in closed form. Singularities are characterized for the case of concentric u-joints at the tool. These singularities yield the constraint singularities of a related 3-universal-prismatic-universal translational manipulator.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:19 ,  Issue: 4 )