@inproceedings{1cab3df36c074a99baf94874e7129895,
title = "Kinematics and Workspace of a Spherical Engraving Machine with the RPR/RRPR Parallel Configuration",
abstract = "A spherical engraving machine based on RPR/RRPR spherical parallel mechanism (SPM) is presented. The mathematical model of the RPR/RRPR SPM is established. The forward kinematics and inverse kinematics of the SPM are analyzed. The reachable workspaces of the output reference point of the SPM are solved based on the kinematic analysis and Matlab software. The variation of the reachable workspace under reconfiguration is analyzed. A spherical engraving machine is designed based on the RPR/RRPR spherical parallel configuration for engraving patterns on spherical surfaces of variable diameters.",
author = "Ruiqin Li and Shijie Liang and Maorong Zhang and Jianwei Zhang and Shaoping Bai",
year = "2019",
doi = "10.1007/978-3-030-20131-9_234",
language = "English",
isbn = "978-3-030-20130-2",
volume = "73",
series = "Mechanisms and Machine Science",
publisher = "Springer",
pages = "2369--2377",
editor = "Tadeusz Uhl",
booktitle = "Advances in Mechanism and Machine Science",
address = "Germany",
note = "IFToMM World Congress on Mechanism and Machine Science ; Conference date: 15-07-2019 Through 18-07-2019",
}