Kinematic analysis and performance evaluation of the 3-PUU parallel module of a 3D printing manipulator

Song Lu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)

Abstract

Recently, 3D printing manipulators have attracted extensive attention since they have become promising tools to perform the practical prototyping and distributed manufacturing tasks. To improve the kinematic accuracy, dexterity and efficiency of 3D printing manipulators, the concept of a 6-DOF hybrid manipulator, consisting of a 3-DOF parallel manipulator and a 3-DOF rotational wrist, is proposed in this paper. According to the requirement of 3D printing movements, a three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) is designed. Several kinematic properties of the 3-PUU TPM under study are investigated, including the inverse and forward kinematic problems, workspace determination, and dexterity. Both the inverse kinematics and forward kinematics solutions are derived in closed form, and Jacobian matrix is derived analytically. Moreover, in view of the physical constraints imposed by mechanical joints, the reachable workspace is determined. Finally, the dexterity characteristic of the 3-PUU TPM is evaluated based on the condition number of its Jacobian matrix.
Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherIEEE
Pages1847-1852
Number of pages6
ISBN (Electronic)9781479951994
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: 10 Dec 201412 Dec 2014

Conference

Conference2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
CountrySingapore
CitySingapore
Period10/12/1412/12/14

Keywords

  • hybrid kinematic manipulator
  • kinematic analysis
  • performance evaluation
  • Three-dimensional printing

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Artificial Intelligence
  • Control and Systems Engineering

Cite this