POSITION PROBLEM FOR 3RPR 3-MOBILE PLAN PARALLEL MANIPULATOR

Claudiu Mihai NEDEZKI

Abstract


The paper presents the inverse and direct problem for 3RPR manipulator. The inverse positions problem is analytically solved. The direct problem is solved both analytically and numerically. An original method using a computer, for establishing the possibilities for manipulator assembling is also presented.

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References


Nedezki, C., Contributions to the analysis of singularities and workspace of parallel manipulators – Ph.D. Thesis, Technical University of Cluj-Napoca, Cluj-Napoca, Romania, 2003.

Merlet, J.P. Les Robots Paralleles, Edit. Hermes, Paris, ISBN 2-86601-599-1, 1997.


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