Abstract
Parallel manipulators with pure translations generally have simple structures and demonstrate good kinematic and dynamic performances. There are also various isotropic parallel mechanisms with identical chains. Moreover, modular design can provide convenience in fast assembly and exchange among different systems. In this paper, a class of special modular joints are presented. A family of pure-translation parallel mechanisms containing such modular parts and prismatic joints are obtained by the mapping relation with matrices. The specific spatial mechanism among this family has simple kinematic solutions based on closed-loop equations. Then its singularity configurations are derived, and several workspaces are obtained under different linkage dimensions. At last, the manipulability measure is formulated, and effects originated from different variables are comprehensively implemented, which provides strong references for future applications.
Original language | English |
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Pages (from-to) | 382-390 |
Number of pages | 9 |
Journal | International Journal of Robotics and Automation |
Volume | 37 |
Issue number | 4 |
DOIs | |
Publication status | Published - 2022 |
Externally published | Yes |
Keywords
- operational workspace
- performance evaluation
- singularity analysis
- Translational parallel manipulator
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Modelling and Simulation
- Mechanical Engineering
- Electrical and Electronic Engineering
- Artificial Intelligence