STRUCTURAL SYNTHESIS AND GEOMETRY OF 3-PRRS AND 3-PRPS TYPE PARALLEL MANIPULATORS

Parallel manipulators with six degrees of freedom and three limbs or tripods have a large workspase and less complex singular configurations compared to the parallel manipulators with six degrees of freedom and six limbs or hexapods. In this paper, structural synthesis and geometry of 3-PRRS and 3-PRPS tripod type parallel manipulators are considered, where P, R, S are prismatic, revolute and spherical kinematic pairs, respectively.

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