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Position Analysis of Spatial 3-RPS Parallel Manipulator

Pundru Srinivasa Rao 1 and Nalluri Mohan Rao2, and
1.Department of Mechanical Engineering, Mahatma Gandhi Institute of Technology, C.B.I.T (Post), Gandipet, Hyderabad 500075, AP, India
2.Department of Mechanical Engineering, University College of Engineering, JNT University Kakinada, Kakinada, AP, India

Abstract—Parallel manipulators increase quality because of their large payload carrying capacity, high stiffness, high accuracy and good precision in positioning. Several parallel manipulators with 6-degree of freedom were developed, but 6-dof manipulators have complicated analysis and moreover distinct applications require less than 6-dof such as surgical manipulators, 3-dof sensors and flight simulations, etc. Therefore manipulators with less than 6-dof have been developed. They are called low-dof parallel manipulators like 3-dof, 4-dof or may be 5-dof. A intend position analysis of spatial 3-RPS parallel manipulator consists of three identical limbs, Base platform, mobile platform, revolute joints, prismatic joints and spherical joints. In the present task, it is intend to carryout, the position analysis of a spatial 3-RPS parallel manipulator. The position analysis of forward kinematic equations and inverse kinematic equations of 3-RPS spatial parallel manipulator have to be analyzed and simplified by using Sylvester dialytic elimination technique and vector analysis. All the possible solutions of this initial analysis are calculated by changing the limb lengths through linear actuators.

Index Terms—3-RPS spatial parallel manipulator, Position analysis, Identical limbs, 3-dof, Sylvester dialytic elimination technique, Vector analysis.

Cite: Pundru Srinivasa Rao and Nalluri Mohan Rao, "Position Analysis of Spatial 3-RPS Parallel Manipulator," International Journal of Mechanical Engineering and Robotics Research, Vol. 2, No. 2, pp. 80-90, April 2013.