Comparison of 3-[PP]S-Y Spatial Parallel Manipulators based on link tolerances and parasitic motions
Anshul Jain,
Hemant Jawale
Abstract:This paper strives to compare between two 3-Degree of Freedom (DoF) Spatial Parallel Manipulators (SPMs) belonging to the 3-[PP]S-Y family viz., 3-RRS and 3-RPS. The planes of the manipulators belong to this family are arranged in a Y-pattern such that they intersect at 120° in a common line. Both of these manipulators have a common motion of 1T2R (T: Translation, R: Rotation) type, and their comparison in this work is carried out by considering the effects of link tolerance and parasitic motions, for the same… Show more
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