Kinematic analysis of a fully-decoupled parallel manipulator with pure translations

Qi Zou, Dan Zhang, Shuo Zhang, Xueling Luo

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

Abstract

A spatial 3 degree-of-freedom parallel mechanism is proposed in this paper. It contains only Pa joint and revolute joints in each kinematic chain. The motion of the moving platform is verified by means of the theory of screw. The simple and intrinsic geometric relations are employed to solve both the inverse and forward positions and fully-decoupled property. Its singularity configurations are found by using the Jacobian matrix. The translational workspace is obtained and verified through considering joints and linkages limitations.

Original languageEnglish
Title of host publicationProceedings - 5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020
EditorsFumin Zhang, Lu Liu
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages221-225
Number of pages5
ISBN (Electronic)9781728198880
DOIs
Publication statusPublished - Sept 2020
Externally publishedYes
Event5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020 - Dalian, China
Duration: 19 Sept 202020 Sept 2020

Publication series

NameProceedings - 5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020

Conference

Conference5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020
Country/TerritoryChina
CityDalian
Period19/09/2020/09/20

Keywords

  • decoupled feature
  • Parallel manipulator
  • parallelogram linkage
  • reachable workspace

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Computational Mathematics
  • Control and Optimization

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