Kinematic analysis of a new 3-DOF translational parallel manipulator

被引：0

作者：

Li, Yangmin ^{[1
]}

Xu, Qingsong ^{[1
]}

机构：

[1] Univ Macau, Dept Elect Mech Engn, Fac Sci & Technol, Taipa, Peoples R China

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 6, PTS A-C | 2005年

关键词：

parallel manipulators; mechanism design; kinematics; workspace; singularity;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper The mobility of the manipidator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

引用

页码：1015 / 1024

页数：10

共 41 条

[1]

Angeles J., 2020, Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms

[2] THE OPTIMUM KINEMATIC DESIGN OF A SPHERICAL 3-DEGREE-OF-FREEDOM PARALLEL MANIPULATOR [J].

GOSSELIN, C ;

ANGELES, J .

JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1989, 111 (02) :202-207

[3]

CALLEGARI M, 2003, ASME, V125, P308, DOI DOI 10.1115/1.1563637

[4] Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator [J].

Carretero, JA ;

Podhorodeski, RP ;

Nahon, MA ;

Gosselin, CM .

JOURNAL OF MECHANICAL DESIGN, 2000, 122 (01) :17-24

[5] A family of 3-dof translational parallel manipulators [J].

Carricato, M ;

Parenti-Castelli, V .

JOURNAL OF MECHANICAL DESIGN, 2003, 125 (02) :302-307

[6] Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the Orthoglide [J].

Chablat, D ;

Wenger, P .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (03) :403-410

[7]

Clavel R., 1988, Proceedings of the 18th International Symposium on Industrial Robots, P91

[8]

Di Gregorio R, 2001, IEEE ASME INT C ADV, P147, DOI 10.1109/AIM.2001.936445

[9]

Di Gregorio R, 1998, ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND CONTROL, P49

[10]

DIGREGORIO R, 1999, P IEEE ASME INT C AD, P520

← 1 2 3 4 5 →