Analysis of design parameters in platform manipulators

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22 Scopus citations


Multi-loop parallel structures of platform manipulators present challenge to their design analysis. For studying the workspace of the 3-6 class of platforms, we developed the ' 'vertex space'' concept in Ji (1994). This paper extends the ' 'vertex space'' concept to other structures for analysing and comparing their workspaces. We classify the vertices of the platform manipulators into types A and B. The platform manipulators are then divided into four groups based on their vertex types. Design parameters in platform manipulators are studied in terms of their functions and effects to vertex spaces and workspace.

Original languageEnglish (US)
Pages (from-to)526-531
Number of pages6
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number4
StatePublished - Dec 1996

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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