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Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

Published online by Cambridge University Press:  04 October 2021

Sercan Boztaş  and
Gökhan Kiper Open the ORCID record for Gökhan Kiper [Opens in a new window]
Sercan Boztaş
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, 35430 İzmir, Turkey
Gökhan Kiper*
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, 35430 İzmir, Turkey
*
*Corresponding author. E-mail: gokhankiper@iyte.edu.tr.
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Abstract

In this study, several joint axis orientations on equilateral platforms and the limbs of 3-UPU parallel manipulators (PMs) are examined. The generated joint layouts for the platforms were matched with each other to generate and enumerate manipulator architectures based on certain assumptions. The structures of thus obtained manipulators are examined and limb types were determined. These limb types were analyzed using screw theory. The instantaneous mobility of the manipulators and the motion characteristics of the moving platforms are tabulated. The finite mobility analysis of one of the manipulators is performed using a software package as an example. Among several different 3-UPU PM architectures, 118 novel 3-UPU PMs with non-parasitic 3-degrees-of-freedom are significantly important. The classified 3-UPU PMs with determined motion characteristics can be used by researchers as a design alternative for their specific design task.

Keywords

Parallel manipulatorsenumerationinstantaneous mobility analysis
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1538 - 1569
Copyright
© The Author(s) 2021. Published by Cambridge University Press

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Footnotes

Mr. Sercan Boztaş is currently at Research and Development Department, Dirinler Machinery Industry Co, 35620 İzmir, Turkey

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