Abstract
The subject of our investigation is the spherical 3-DOF parallel manipulator with three linear actuators, any of them is attached to the base with a universal joint and to the platform with a spherical joint (see Fig.1). The fourth spherical joint between the platform and the base permits the spherical motion of the platform. Similar mechanical structures are widely used as mounting or supporting structures for solar panels, telescopes, radar and satellite antennas, mirrors for laser beams etc.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Dietmaier P.: „An Inverse Force Analysis of a Tetrahedral Three-Spring System.“ Trans.ASME, Jnl of Mechanical Design, V.117, June 1995, pp.286–291.
Gosselin C.M., Sefriouri J., Richard M.J.: „On the Direct Kinematics of Spherical ThreeDegree-of-Freedom Parallel Manipulators of General Architecture.“ Trans.ASME, Jnl of Mechanical Design, V. 116, June 1994, pp. 594–598.
Griffis M., Duffy J.: „Global Stiffness Modelling of a Class of Simple Compliant Couplings.“ Mech. Mach. Theory. V. 28, No. 2, pp. 207–224, 1993.
Husain M., Waldron K.J.: „Kinematics of a Three-Limbed Mixed Mechanism.“ Trans.ASME, Jnl of Mechanical Design, Sept. 1994, pp. 924–929.
Innocenti C., Parenti-Castelli V.: „Echelon Form Solution of Direct Kinematics for the General Fully-Parellel Spherical Wrist.“ Mech.Mach.Theory, V. 28, No. 4, pp. 553–561, 1993.
Knapczyk J., Dzierzek S.: „Displacement and Force Analysis of Five-Rod Suspension with Flexible Joints. Trans.ASME, Jnl of Mechanical Design, V. 117, Dec.1995, pp. 532–538.
Wohlhart K.: „Displacement Analysis of the General Spherical Stewart Platform.“ Mech. Mach. Theory, V.29, No.4, pp.581–589, 1994.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1997 Springer-Verlag Wien
About this chapter
Cite this chapter
Knapczyk, J., Tora, G. (1997). An Inverse Force Analysis of the Spherical 3-DOF Parallel Manipulator with Three Linear Actuators Considered as Spring System. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) ROMANSY 11. International Centre for Mechanical Sciences, vol 381. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2666-0_7
Download citation
DOI: https://doi.org/10.1007/978-3-7091-2666-0_7
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82903-5
Online ISBN: 978-3-7091-2666-0
eBook Packages: Springer Book Archive