Novel design solution to high precision 3 axes translational parallel mechanism

被引：19

作者：

Bhutani, Gaurav ^{[1
]}

Dwarakanath, T. A. ^{[1
]}

机构：

[1] Bhabha Atom Res Ctr, Div Remote Handling & Robot, Bombay 400085, Maharashtra, India

来源：

MECHANISM AND MACHINE THEORY | 2014年 / 75卷

关键词：

3-DOF UPU mechanism; Modeling and design; Sensitivity analysis; Prototype development; KINEMATIC ANALYSIS;

D O I：

10.1016/j.mechmachtheory.2013.11.010

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper presents a 3 degree of freedom UPU mechanism having an excellent practical feasibility. The mathematical model and the design considerations of the 3-UPU mechanism are discussed. A detailed sensitivity analysis is carried out and the results are discussed in a new perspective. A novel design solution for a high precision three axis translation parallel mechanism is presented. We describe and validate the theoretical observations with the prototype model. The capability of the 3-UPU mechanism in performing fine motion manipulation, high precision trajectory following and metrological measurement is demonstrated. The performances of the 3-UPU mechanism concur with the theoretical observations in contrast to what is presented in previous works. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：118 / 130

页数：13

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