Kinematic analysis of a new 3-DOF translational parallel manipulator

Yangmin Li, Qingsong Xu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-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 languageEnglish
Title of host publicationProc. of the ASME Int. Des. Eng. Tech. Conf. and Comput. and Information in Engineering Conferences - DETC2005
Subtitle of host publication5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
Pages1015-1024
Number of pages10
Volume6 B
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States
Duration: 24 Sep 200528 Sep 2005

Conference

ConferenceDETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
CountryUnited States
CityLong Beach, CA
Period24/09/0528/09/05

Keywords

  • Kinematics
  • Mechanism design
  • Parallel manipulators
  • Singularity
  • Workspace

ASJC Scopus subject areas

  • Engineering(all)

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