Design of Inward Limbs 3 RPS Manipulator for Machining Purpose and Kinematics Simulation Using ADAMS

Bibi Farouk Zulfiqar Ibrahim | Liu Ying ^[3]

Abstract: The paper dealt with the 3-RPS manipulator that have inward limb structure to normal manipulator configuration, that is the three limbs are situated close to centre of the fixed based and open outward to support the platform, the kinematics analysis is discuss in detail and Adam software is used to show the orientation and position of the platform with respect to the limbs length and positions. The result is compared with derived kinematics equations.

Keywords: Inward limb structure, singularity, rigidity/stiffness, working space

Edition: Volume 4 Issue 2, February 2015,

Pages: 1443 - 1447