Hostname: page-component-77c89778f8-5wvtr Total loading time: 0 Render date: 2024-07-17T05:12:48.142Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematic analysis of a fully decoupled translational parallel manipulator

Published online by Cambridge University Press:  27 February 2009

M. Ruggiu
M. Ruggiu*
Affiliation:
Department of Mechanical Engineering, University of Cagliari, Piazza d'Armi – 09123 Cagliari, Italy
*
*Corresponding author. E-mail: ruggiu@dimeca.unica.it
Get access Rights & Permissions [Opens in a new window]

Summary

The paper describes the kinematic analysis of a new translational parallel manipulator (TPM). The manipulator consists of a fixed base, with a moving platform connected to the base by three identical legs with PUPR chains. The axes of the actuated motions are orthogonal. This configuration provides a very simplified kinematic analysis with fully decoupled input–output linear equations, absence of translational singularities, isotropy and ease of determining the workspace for the moving platform.

Keywords

Parallel mechanismTranslational parallel manipulatorSingularitiesWorkspace
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 961 - 969
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Clavel, R., “Delta a Fast Robot with Parallel Geometry,” Proceedings of the 18th International Symposium on Industrial Robots, Sydney Australia (1988) pp. 91–100.Google Scholar
2.Wenger, P. and Chablat, D., “Kinematics Analysis of a new Parallel Machine-Tool: The Orthoglide,” Proceedings of ARK, Piran, France (2000) pp. 305–314.Google Scholar
3.Neumann, K. E., Robot, U.S. Patent 4732525 (Mar. 22, 1988).Google Scholar
4.Tsai, L. W. and Joshi, S., “Kinematics and optimization of a spatial 3-UPU parallel manipulator,” ASME J. Mech. Des. 122 (4), 439–446 (2000).Google Scholar
5.Di Gregorio, R. and Parenti-Castelli, V., “A Translational 3-DOF Parallel Manipulator,” In: Advances in Robot Kinematics: Analysis and Control (Lenarčična, J. and Husty, M. L., eds.) Kluwer Academic publishers, Dordrecht: The Netherlands, 1998) pp. 49–58.CrossRefGoogle Scholar
6.Di, R. Gregorio, “Closed-Form Solution of the Position Analysis of the Pure Translational 3RUU Parallel Mechanism,” Proceedings of 8th Symposium on mechanisms and mechanical transmissions, Timisoara, Romania, Vol. 1 (Oct. 2000) pp. 119–124.Google Scholar
7.Carricato, M. and Parenti-Castelli, V., “A Family of 3DOF Translational Parallel Manipulators,” Proceedings of the 2001 ASME Design Engineering Technical Conferences, Pittsburgh, PA, DAC-21035 (2001).CrossRefGoogle Scholar
8.Carricato, M. and Parenti-Castelli, V., “Position analysis of a new family of 3-DOF translational parallel manipulators,” ASME J. Mech. Des. 125 (2), 316–322 (2003).Google Scholar
9.Carricato, M. and Parenti-Castelli, V., “Singularity-free fully-isotropic translational parallel mechanisms,” Int. J. Rob. Res. 21 (9), 161–174 (2002).CrossRefGoogle Scholar
10.Gosselin, C. M., Kong, X., Foucault, S. and Bonev, I. A., “A Fully Decoupled 3-DOF Translational Parallel Mechanism,” Proceedings of the 4th Chemnitz Parallel Kinematics Seminar, Parallel Kinematic Machines International Conference, Chemnitz: Germany (2004) pp. 595–610.Google Scholar
11.Gosselin, C. M. and Kong, X., “Kinematics and singularities analysis of a novel type of 3-CRR 3-dof translational parallel manipulator,” Int. J. Rob. Res. 21 (9), 791–798 (Sep. 2002).Google Scholar
12.Hervé, J. M., “Design of Parallel Manipulators via the Displacement Group,” Proceedings of the 9th World Congress on the Theory of Machines and Mechanisms, Milan, Italy (1995) pp. 2079–2082.Google Scholar
13.Kong, X. and Gosselin, C. M., “Type synthesis of 3-DOF translational parallel manipulators based on screw theory,” J. Mech. Des. 126 (1), 83–92 (2004).CrossRefGoogle Scholar
14.Kong, X. and Gosselin, C. M., “Type Synthesis of Linear Translational Parallel Manipulators,” In: Advances in Robot Kinematics: Theory and Applications (Lenarcic, J. and Thomas, F., eds.) (Kluwer Academic Publishers, 2002) pp. 453–462.CrossRefGoogle Scholar
15.Frisoli, A., Checcacci, D., Salsedo, F. and Bergamasco, M., “Synthesis by Screw Algebra of Translating In-Parallel Actuated Mechanisms,” Advances in Robot Kinematics (Lenarčič, J. and Stanišić, M. M., eds.) (Kluwer Academic publishers, 2000) pp. 433–440.CrossRefGoogle Scholar
16.Staicu, S. and Zhang, D., “A novel dynamic modelling approach for parallel mechanisms analysis,” Rob. Comput. -Integr. Manuf. 24, 167–172 (2008).CrossRefGoogle Scholar
17.Staicu, S., Liu, X.-J. and Wang, J., “Inverse dyanamics of the HALF parallel manipulator with revolute actuators,” Nonlinear Dyn. 50, 1–12 (2007).Google Scholar