THE WORKSPACE AND THE SINGULARITIES OF THE 3KTK 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 AutoLISP - AutoCAD) for the workspace and for the singularities of the 3KTK  manipulator with 3 degrees of freedom in translation. Is calculated the areas of the different plane sections (Zp = constant), and the workspace volume. It shows the influence of the the constructive parameters on the  workspace of the manipulator.

Key words: parallel manipulator, the meshing method, the Jacobian matrix, the input - output equations, the singularities, degrees of freedom.


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References


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