TY - GEN
T1 - Novel design of a 3-DOF parallel manipulator for materials handling
AU - Zhang, Dan
AU - Gao, Zhen
AU - Hu, Xiao Lin
AU - Parise, Jason
PY - 2008
Y1 - 2008
N2 - In this paper, a new design of a parallel manipulator is proposed for industrial applications, specifically for material surface finishing processes. Though most current parallel mechanisms have been based on the Stewart-Gough platform which has 6 degrees of freedom (DOF), the focus of this design is on a 3-DOF manipulator with one novel configuration. In order to benefit production, a parallel kinematic machine (PKM) capable of high speed industrial operations with high accuracy and rigidity is necessary. First, system modelling includes mobility study, inverse kinematic model, Jacobian matrix, singularity analysis and workspace calculation are conducted. Then, a CAD model is presented showing the optimum design features and detailed mechanics. Finally, finite element analysis is carried out for the device optimization.
AB - In this paper, a new design of a parallel manipulator is proposed for industrial applications, specifically for material surface finishing processes. Though most current parallel mechanisms have been based on the Stewart-Gough platform which has 6 degrees of freedom (DOF), the focus of this design is on a 3-DOF manipulator with one novel configuration. In order to benefit production, a parallel kinematic machine (PKM) capable of high speed industrial operations with high accuracy and rigidity is necessary. First, system modelling includes mobility study, inverse kinematic model, Jacobian matrix, singularity analysis and workspace calculation are conducted. Then, a CAD model is presented showing the optimum design features and detailed mechanics. Finally, finite element analysis is carried out for the device optimization.
UR - http://www.scopus.com/inward/record.url?scp=81155138305&partnerID=8YFLogxK
U2 - 10.1115/DETC2008-49188
DO - 10.1115/DETC2008-49188
M3 - Conference article published in proceeding or book
AN - SCOPUS:81155138305
SN - 9780791843253
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 719
EP - 726
BT - ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
T2 - ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
Y2 - 3 August 2008 through 6 August 2008
ER -