Abstract
A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated and compared. Especially, it is illustrated that the manipulator in principle possesses a uniform workspace with a constant hexagon shape cross section. Furthermore, the dexterity characteristics are investigated in the local and global sense, respectively, and some considerations for real machine design have been proposed as well.
| Original language | English |
|---|---|
| Pages (from-to) | 729-737 |
| Number of pages | 9 |
| Journal | Journal of Mechanical Design, Transactions Of the ASME |
| Volume | 128 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 1 Jul 2006 |
| Externally published | Yes |
Keywords
- Dexterity
- Isotropy
- Kinematics
- Mechanism design
- Parallel manipulators
- Singularity
- Workspace
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design