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

Yangmin Li, Qingsong Xu

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

38 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 languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages2944-2949
Number of pages6
Volume2005
DOIs
Publication statusPublished - 1 Dec 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 18 Apr 200522 Apr 2005

Conference

Conference2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period18/04/0522/04/05

Keywords

  • Dexterity
  • Kinematics
  • Parallel mechanism
  • Singularity
  • Workspace

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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