Kinematics and dexterity analysis for a novel 3-DOF translational parallel manipulator

Yangmin Li; Qingsong Xu

doi:10.1109/ROBOT.2005.1570561

Kinematics and dexterity analysis for a novel 3-DOF translational parallel manipulator

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

39 Citations (Scopus)

Abstract

A new three degrees of freedom translational parallel manipulator (TPM) with fixed actuators, called a general 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 singularity problems are investigated after-wards, which can be applied to a general 3-PRC TPM regardless of actuators arrangement. With the variation on actuators layout angle, 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 is investigated in the global sense. Simulation results show that different specific tasks should be considered when the actuators layout angles of a general 3-PRC TPM are designed.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	2944-2949
Number of pages	6
Volume	2005
DOIs	https://doi.org/10.1109/ROBOT.2005.1570561
Publication status	Published - 1 Dec 2005
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 18 Apr 2005 → 22 Apr 2005

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	18/04/05 → 22/04/05

Keywords

Dexterity
Kinematics
Parallel mechanism
Singularity
Workspace

ASJC Scopus subject areas

Control and Systems Engineering
Software
Artificial Intelligence
Electrical and Electronic Engineering

More information

10.1109/ROBOT.2005.1570561

Cite this

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Kinematics and dexterity analysis for a novel 3-DOF translational parallel manipulator. / Li, Yangmin; Xu, Qingsong.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 2944-2949 1570561.

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

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AU - Li, Yangmin

AU - Xu, Qingsong

PY - 2005/12/1

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N2 - A new three degrees of freedom translational parallel manipulator (TPM) with fixed actuators, called a general 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 singularity problems are investigated after-wards, which can be applied to a general 3-PRC TPM regardless of actuators arrangement. With the variation on actuators layout angle, 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 is investigated in the global sense. Simulation results show that different specific tasks should be considered when the actuators layout angles of a general 3-PRC TPM are designed.

AB - A new three degrees of freedom translational parallel manipulator (TPM) with fixed actuators, called a general 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 singularity problems are investigated after-wards, which can be applied to a general 3-PRC TPM regardless of actuators arrangement. With the variation on actuators layout angle, 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 is investigated in the global sense. Simulation results show that different specific tasks should be considered when the actuators layout angles of a general 3-PRC TPM are designed.

KW - Dexterity

KW - Kinematics

KW - Parallel mechanism

KW - Singularity

KW - Workspace

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VL - 2005

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BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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Kinematics and dexterity analysis for a novel 3-DOF translational parallel manipulator

Abstract

Conference

Keywords

ASJC Scopus subject areas

More information

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