Kinematic analysis of a novel translational platform

被引：35
作者：
Callegari, M [1 ]
Tarantini, M [1 ]
机构：
[1] Univ Politecn Marche, Dept Mech, I-60131 Ancona, Italy
来源：
JOURNAL OF MECHANICAL DESIGN | 2003年 / 125卷 / 02期
关键词：
D O I：
10.1115/1.1563637
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A new three-d.o.f. parallel mechanism, with 3-RPC topology, is presented in the paper and its kinematics is studied. The proposed architecture, if proper geometrical conditions are satisfied, has an overconstrained structure which allows motions of pure translation. The simple structure of the mechanism allows finding closed-form solutions for both inverse and direct position kinematics; the differential analysis has been developed as well, by deriving a symbolic expression for the Jacobian matrix. Then, some design considerations are exposed to keep the singular points out of the working space of the mechanism and all the isotropic configurations are eventually identified.
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页码：308 / 315
页数：8
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