PHYSICAL AND MATHEMATICAL CONDITIONS OF EXISTENCE OF AXES ABOUT WHICH PLATFORM OF DEFICIENT RANK PARALLEL ROBOTS CAN ROTATE CONTINUOUSLY

摘要

This paper present the physical conditions and mathematical criteria of the existence of axes about which the platform of the deficient rank parallel robots can rotate continuously. That is the power of constraining force and the rate of that power both are zero simultaneously. The instantaneous and continuous rotating axes of a deficient rank 3 RPS parallel platform robot and a deficient rank 3 RPS parallel pyramid robot are discusses.