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

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.