Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translational Motion

[+] Author and Article Information
Raffaele Di Gregorio

Department of Engineering, University of Ferrara, Via Saragat 1, 44100 Ferrara, Italyemail: rdigregorio@ing.unife.it

Vincenzo Parenti-Castelli

Department of Mechanical Engineering, DIEM University of Bologna, Via Risorgimento 2, 40136 Bologna, Italye-mail: vincenzo.parenticastelli@mail.ing.unibo.it

J. Mech. Des 124(2), 259-264 (May 16, 2002) (6 pages) doi:10.1115/1.1471530 History: Received February 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
Your Session has timed out. Please sign back in to continue.


Clavel, R., 1988, “Delta, a Fast Robot With Parallel Geometry,” Proceedings of International Symposium on Industrial Robots, pp. 91–100.
Hervè, J. M., 1992, “Group Mathematics and Parallel Link Mechanisms,” Proceedings of the IMACS SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems, Kobe, Japan, pp. 459–464.
Hervè, J. M., and Sparacino, F., 1991, “Structural Synthesis of “Parallel” Robots Generating Spatial Translation,” Fifth ICAR International Conference on Advanced Robotics, June 19–22, Pisa, Italy, pp. 808–813.
Tsai, L. W., 1996, “Kinematics of a Three-dof Platform With Three Extensible Limbs,” Recent Advances in Robot Kinematics (Lenarcic, J., and Parenti-Castelli, V., Eds.), Kluwer Academic Publishers, pp. 401–410.
Tsai, L. W., and Stamper, R., 1996, “A Parallel Manipulator With Only Translational Degrees of Freedom,” ASME 96-DETC-MECH-1152, Irvine, CA.
Di Gregorio, R., and Parenti-Castelli, V., 1998, “A Translational 3-dof Parallel Manipulator,” Advances in Robot Kinematics: Analysis and Control (Lenarcic, J., and Husty, M. L., Eds.), Kluwer Academic Publishers, pp. 49–58.
Tsai, L. W., 1998, “Systematic Enumeration of Parallel Manipulators,” Proceedings of the 1st European-American Forum on Parallel Kinematic Machines, Milan, Italy, pp. 1–11.
Parenti-Castelli, V., Di Gregorio, R., and Lenarcic, J., 1998, “Sensitivity to Geometric Parameter Variation of a 3-dof Fully-Parallel Manipulator,” Proceedings of the 3rd International Conference on Advanced Mechatronics, Okayama, Japan, pp. 364–369.
Alizade,  R. I., Tagiyev,  N. R., and Duffy,  J., 1994, “A Forward and Reverse Displacement Analysis of an In-parallel Spherical Manipulator,” Mech. Mach. Theory, 29(1), pp. 125–137.
Asada, H., and Cro Granito, J. A., 1985, “Kinematic and Static Characterization of Wrist Joints and Their Optimal Design,” Proceedings of IEEE International Conference on Robotics and Automation, St. Louis, pp. 24–250.
Gosselin,  L., and Angeles,  J., 1989, “The Optimum Kinematic Design of a Spherical Three-degree-of-freedom Parallel Manipulator,” ASME J. Mech., Transm., Autom. Des., 111(2), pp. 202–207.
Innocenti,  C., and Parenti-Castelli,  V., 1993, “Echelon Form Solution of Direct Kinematics for the General Fully-parallel Spherical Wrist,” Mech. Mach. Theory, 28(4), pp. 553–561.
Lee Jason J., and Chang Sun-Lai, 1992, “On the Kinematics of the UPS Wrist for Real Time Control,” DE-Vol. 45, 22nd ASME Biennial Mechanisms Conference, Robotics, Spatial Mechanisms, and Mechanical Systems, Scottsdale, Arizona, pp. 305–312.
Lee,  K. M., and Shah,  D. K., 1987, “Kinematic Analysis of a Three Degrees of Freedom In-Parallel Actuated Manipulator,” Proceedings of the 1987 IEEE International Conference on Robotics and Automation, 1, pp. 345–350.
Yang, Po-hua, Waldron, K., and Orin, D. E., 1996, “Kinematic of a Three-degree-of-freedom Motion Platform for a Low-cost Driving Simulator,” Recent Advances in Robot Kinematics (Lenarcic J., and Parenti-Castelli V., Eds.), Kluwer Academic Publishers, pp. 89–98.
Padmanabhan,  B., Tidwell,  P. H., Salerno,  R. J., and Reinholtz,  C. F., 1992, “VGT-based Gimbals: Practical Construction and General Theory,” ASME DE-Vol 47, Flexible Mechanisms, Dynamics and Analysis, pp. 437–443.
Wolfram, S., 1992, “Mathematica: A System for Doing Mathematics by Computer,” Addison-Wesley Publishing Company.


Grahic Jump Location
The 3-UPU parallel mechanism
Grahic Jump Location
The i-th leg of the 3-UPU parallel mechanism
Grahic Jump Location
Design parameters; (a) base, (b) platform
Grahic Jump Location
Platform of the 3-UPU mechanism
Grahic Jump Location
Planar rotation singularity surface



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In