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Practical feasibility of a high-precision 3-UPU parallel mechanism

Published online by Cambridge University Press:  06 August 2013

Gaurav Bhutani  and
T. A. Dwarakanath
Gaurav Bhutani
Affiliation:
Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai 400085, India
T. A. Dwarakanath*
Affiliation:
Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai 400085, India
*
*Corresponding author. E-mail: tad@barc.gov.in
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Summary

In this paper, we revisit the 3-degrees of freedom (DOF) pure translational mechanism. The mathematical model and the design considerations are discussed. A detailed sensitivity and error analysis is carried out and the results are discussed in a new perspective. The feasibility of the practical 3-DOF pure translational mechanism is established with novel design considerations to take care of theoretical mobility and geometrical constraints. We describe and validate the theoretical observations with stage-wise prototype models and experiments. The experimental results concur that all is well with 3-UPU in contrast to what is presented in refs. [6, 9, 10].

Keywords

3-UPUSingularity analysisSensitivity analysisError analysisPrototype development
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 341 - 355
Copyright
Copyright © Cambridge University Press 2013 

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