Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator

[+] Author and Article Information
J. A. Carretero, R. P. Podhorodeski, M. A. Nahon

Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada V8W 3P6

C. M. Gosselin

Département de Génie Mécanique, Université Laval, Québec, QC, Canada G1K 7P4e-mail: gosselin@gmc.ULaval.CA

J. Mech. Des 122(1), 17-24 (Dec 01, 1999) (8 pages) doi:10.1115/1.533542 History: Received September 01, 1998; Revised December 01, 1999
Copyright © 2000 by ASME
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Grahic Jump Location
Vector representation of one leg
Grahic Jump Location
Parasitic motion (a) along X axis, (b) along Y axis, and (c) around Z axis, at z=1/(√2),α=−β=120 deg, li=rp=1 (macro example)
Grahic Jump Location
Total translational parasitic motion (δ ) values for z=1/(√2),α=−β=120 deg, li=rp=1
Grahic Jump Location
T configuration: α=90 deg and β=−90 deg
Grahic Jump Location
Average of the x parasitic motion (xave) versus α and β (macro example)
Grahic Jump Location
Average of the total translational parasitic motion (δave) versus α and β (macro example)
Grahic Jump Location
Maximum of the total translational parasitic motion (δmm) versus α and β (macro example)



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