Latifah Nurahmi, Mochamad Solichin, D. Harnany, Ari Kurniawan
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Dimension synthesis of 3-RPS parallel manipulator with intersecting R-axes for ankle rehabilitation device
This paper deals with the development and dimension synthesis of the 3-RPS parallel manipulator for ankle rehabilitation device. The architecture of the 3-RPS parallel manipulator was achieved through novel methodology introduced in [1]. Three revolute axes intersect at one point. This point being the center of rotation of the ankle rehabilitation device and it will be placed as close as possible to the ankle joint. By using the Euler parametrization, the dimension of the base and the platform will be synthesized by considering its orientation capability. The singularities will be the constraint of the synthesis process. Using the synthesis method introduced in this paper, the novel 3-RPS parallel manipulator is provided.
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