@inproceedings{ee272b28521f48db8706a0d6e1824aae,
title = "Dimension synthesis of 3-RPS parallel manipulator with intersecting R-axes for ankle rehabilitation device",
abstract = "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.",
keywords = "3-RPS, Ankle joint, Dimension synthesis, Parallel manipulators, Singularities",
author = "Latifah Nurahmi and Mochamad Solichin and Dinny Harnany and Ari Kurniawan",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 18th International Conference on Advanced Robotics, ICAR 2017 ; Conference date: 10-07-2017 Through 12-07-2017",
year = "2017",
month = aug,
day = "30",
doi = "10.1109/ICAR.2017.8023529",
language = "English",
series = "2017 18th International Conference on Advanced Robotics, ICAR 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "269--274",
booktitle = "2017 18th International Conference on Advanced Robotics, ICAR 2017",
address = "United States",
}