Kinematic analysis of a new 3-DOF translational parallel manipulator

Yangmin Li; Qingsong Xu

Kinematic analysis of a new 3-DOF translational parallel manipulator

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

4 Citations (Scopus)

Abstract

A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

Original language	English
Title of host publication	Proc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005
Subtitle of host publication	5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
Pages	1015-1024
Number of pages	10
Volume	6 B
Publication status	Published - 1 Dec 2005
Externally published	Yes
Event	DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States Duration: 24 Sept 2005 → 28 Sept 2005

Conference

Conference	DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/Territory	United States
City	Long Beach, CA
Period	24/09/05 → 28/09/05

Keywords

Kinematics
Mechanism design
Parallel manipulators
Singularity
Workspace

ASJC Scopus subject areas

General Engineering

Cite this

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title = "Kinematic analysis of a new 3-DOF translational parallel manipulator",

abstract = "A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.",

keywords = "Kinematics, Mechanism design, Parallel manipulators, Singularity, Workspace",

author = "Yangmin Li and Qingsong Xu",

year = "2005",

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isbn = "0791847438",

volume = "6 B",

pages = "1015--1024",

booktitle = "Proc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005",

note = "DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference ; Conference date: 24-09-2005 Through 28-09-2005",

}

Li, Y & Xu, Q 2005, Kinematic analysis of a new 3-DOF translational parallel manipulator. in Proc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. vol. 6 B, pp. 1015-1024, DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, United States, 24/09/05.

Kinematic analysis of a new 3-DOF translational parallel manipulator. / Li, Yangmin; Xu, Qingsong.
Proc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6 B 2005. p. 1015-1024.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Kinematic analysis of a new 3-DOF translational parallel manipulator

AU - Li, Yangmin

AU - Xu, Qingsong

PY - 2005/12/1

Y1 - 2005/12/1

N2 - A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

AB - A novel three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are investigated in details afterwards. Under different cases of physical constraints imposed by mechanical joints, the reachable workspace of the manipulator is geometrically generated and compared. Especially, it is illustrated that the manipulator in principle possesses a fairly regular like workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, the singularity within the usable workspace is verified, and simulation results show that there exist no any singular configurations within the specified workspace. Therefore, the presented new manipulator has a great potential for high precision industrial applications such as assembly, machining, etc.

KW - Kinematics

KW - Mechanism design

KW - Parallel manipulators

KW - Singularity

KW - Workspace

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M3 - Conference article published in proceeding or book

SN - 0791847438

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VL - 6 B

SP - 1015

EP - 1024

BT - Proc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005

T2 - DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

Y2 - 24 September 2005 through 28 September 2005

ER -

Kinematic analysis of a new 3-DOF translational parallel manipulator

Abstract

Conference

Keywords

ASJC Scopus subject areas

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