Abstract
The range of motion of the moving platform of a spatial 3-RPS parallel manipulator will be greatly influenced by the physical constraints such as limits on the lengths of the limbs and the range of motion of the spherical joints. Therefore, while synthesizing the parallel manipulator, the physical constraints have to be considered. Synthesis of the manipulator involves determination of the architectural parameters of the manipulator so that a point on the moving platform passes through a prescribed set of positions in space. This paper presents a synthesis procedure that determines location and direction of revolute joints and location of spherical joints along with orientation of sockets of spherical joints, considering the physical constraints. The synthesis procedure is demonstrated through a numerical example.
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