THE ANALYSIS OF MAXIMAL WORKSPACE OF THE 3-RRS SPATIAL PARALLEL MANIPULATOR

Claudiu Mihai NEDEZKI, Adrian TRIF, Gheorghe KEREKES

Abstract


In this article is studied the graphical representation using the meshing method (based on input-output equations and on a program designed in AutoCAD) for the maximal workspace of the 3RRS manipulator with 3 degrees of freedom. Is calculated the areas of the different plane sections (Zp=constant), and the workspace volume.

Key words: parallel manipulator, the meshing method, degrees of freedom, Euler angles.


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References


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