caa a22 4500 475798147 CHVBK 20180406123730.0 cr unu---uuuuu 170329e20000501xx s 000 0 eng 10.1007/s001700050176 doi (NATIONALLICENCE)springer-10.1007/s001700050176 Workspace Analysis of a Six-Degrees of Freedom, Three-Prismatic- Prismatic-Spheric-Revolute Parallel Manipulator [Elektronische Daten] [M. Z. A. Majid, Z. Huang, Y. L. Yao] This paper studies the workspace of a six-degrees-of-freedom parallel manipulator of the general three-PPSR (prismatic-prismatic- spheric-revolute) type. It is known that a drawback of parallel manipulators is their limited workspace. To develop parallel mechanisms with a larger workspace is of use to potential applications. The mechanism of a three-PPSR manipulator and its variations are briefly analysed. The workspace is then investigated and the effects of joint limit and limb interference on the workspace shape and size are numerically studied. The constituent regions of the workspace corresponding to different classes of manipulator poses are discussed. It is shown that the workspace of this parallel manipulator is larger than that of a comparable Stewart platform, especially in the vertical direction.: Springer-Verlag London Limited, 2000 Keywords:Parallel manipulator nationallicence Stewart platform nationallicence Work-space nationallicence Majid M. Z. A. Department of Mechanical Engineering, Columbia University, New York, USA, US aut Huang Z. Department of Mechanical Engineering, Columbia University, New York, USA, US aut Yao Y. L. Department of Mechanical Engineering, Columbia University, New York, USA, US aut https://doi.org/10.1007/s001700050176 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s001700050176 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Majid M. Z. A. Department of Mechanical Engineering, Columbia University, New York, USA, US aut NATIONALLICENCE 700 1- Huang Z. Department of Mechanical Engineering, Columbia University, New York, USA, US aut NATIONALLICENCE 700 1- Yao Y. L. Department of Mechanical Engineering, Columbia University, New York, USA, US aut Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer