THE INVERSE PROBLEM OF THE 3RRS SPATIAL PARALLEL MANIPULATOR’S POSITIONS

Claudiu Mihai Nedezki, Adrian Trif, Gheorghe Kerekes

Abstract


This paper presents in detail the structure of the 3RRS manipulator with 3 degrees of freedom and the inverse problem of the positions is solved analytically by using the input - output equations. The independent parameters of the mobile platform are: ZP, ψ and θ. For the others three parameters of the mobile platform (XP, YP, φ), have been established relations of calculation.
Key words: parallel manipulator, the inverse problem of the manipulator’s positions, the mobile platform, the input - output  equations, degrees of freedom, generalized coordinates, Euler angles, relative curvilinear coordinates.


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References


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