This paper presents a study of a pure translation three degrees of freedom fully-parallel manipulator, known as the Tsai manipulator. Based on the static analysis and on the determination of the singularity loci of the manipulator, criteria for the optimal geometric design of the manipulator for a given workspace free from singularities are proposed.
Workspace and optimal design of a pure translational parallel manipulator
DI GREGORIO, Raffaele;
2000
Abstract
This paper presents a study of a pure translation three degrees of freedom fully-parallel manipulator, known as the Tsai manipulator. Based on the static analysis and on the determination of the singularity loci of the manipulator, criteria for the optimal geometric design of the manipulator for a given workspace free from singularities are proposed.File in questo prodotto:
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