A Family of 3-DOF Translational Parallel Manipulators

[+] Author and Article Information
Marco Carricato, Vincenzo Parenti-Castelli

DIEM—Department of Mechanical Engineering, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy

J. Mech. Des 125(2), 302-307 (Jun 11, 2003) (6 pages) doi:10.1115/1.1563635 History: Received May 01, 2001; Revised October 01, 2002; Online June 11, 2003
Copyright © 2003 by ASME
Your Session has timed out. Please sign back in to continue.


Gough, V. E., and Whitehall, S. G., 1962, “Universal Tyre Test Machine,” Proc. of the 9th International Congress of F.I.S.I.T.A., Vol. 117, pp. 117–135.
Stewart,  D., 1965, “A Platform with Six Degrees of Freedom,” Proc. Inst. Mech. Eng. 180(15), pp. 371–386.
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.
Gosselin,  C. M., and Lavoie,  E., 1993, “On the Kinematic Design of Spherical Three-Degree-of-Freedom Parallel Manipulators,” Int. J. Robot. Res., 12(4), pp. 394–402.
Gosselin,  C. M., Sefrioui,  J., and Richard,  M. J., 1994, “On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture,” ASME J. Mech. Des., 116(2), pp. 594–598.
Vischer,  P., and Clavel,  R., 2000, “Argos: a Novel 3-DOF Parallel Wrist Mechanism,” Int. J. Robot. Res., 19(1), pp. 5–11.
Karouia, M., and Hervé, J. M., 2000, “A Three-DOF Tripod for Generating Spherical Rotation,” Advances in Robot Kinematics, J. Lenarčič and M. M. Stanišič, eds., Kluwer Academic Publishers, pp. 395–402.
Lee,  K. M., and Shah,  D. K., 1988, “Kinematic Analysis of a Three-Degrees-of-Freedom In-Parallel Actuated Manipulator,” IEEE J. Rob. Autom., 4(3), pp. 354–360.
Waldron,  K. J., Raghavan,  M., and Roth,  B., 1989, “Kinematics of a Hybrid Series-Parallel Manipulation System,” ASME J. Dyn. Syst., Meas., Control, 111(2), pp. 211–221.
Carretero,  J. A., Podhorodeski,  R. P., Nahon,  M. A., and Gosselin,  C. M., 2000, “Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator,” ASME J. Mech. Des., 122(1), pp. 17–24.
Clavel, R., 1988, “Delta, a Fast Robot With Parallel Geometry,” Proc. of the 18th International Symposium on Industrial Robots, Lausanne, Switzerland, pp. 91–100.
Hervé, J. M., and Sparacino, F., 1991, “Structural Synthesis of Parallel Robots Generating Spatial Translation,” Proc. of the 5th IEEE Int. Conference on Advanced Robotics, Pisa, Italy, pp. 808–813.
Hervé, J. M., and Sparacino, F., 1992, “STAR, a New Concept in Robotics,” Proc. of the 3rd Int. Workshop on Advances in Robot Kinematics, Ferrara, Italy, pp. 176–183.
Hervé, J. M., 1995, “Design of Parallel Manipulators Via the Displacement Group,” Proc. of the 9th World Congress on the Theory of Machines and Mechanisms, Milan, Italy, pp. 2079–2082.
Arai, T., Hervé, J. M., and Tanikawa, T. 1996, “Development of 3 DOF Micro Finger,” Proc. of the 1996 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Osaka, Japan, pp. 981–987.
Tsai, L. W., and Stamper, R. E., 1996, “A Parallel Manipulator with Only Translational Degrees of Freedom,” MECH-1152, Proc. of the 1996 ASME Design Engineering Technical Conferences, Irvine, CA.
Wenger, P., and Chablat, D., 2000, “Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide,” Advances in Robot Kinematics, J. Lenarčič and M. M. Stanišić, eds., Kluwer Academic Publishers, pp. 305–314.
Zhao, T. S., and Huang, Z., 2000, “A Novel Three-DOF Translational Platform Mechanism and Its Kinematics,” MECH-14101, Proc. of the 2000 ASME Design Engineering Technical Conferences, Baltimore, MD.
Tsai, L. W., 1996, “Kinematics of a Three-DOF Platform with Three Extensible Limbs,” Recent Advances in Robot Kinematics, J. Lenarčič and V. Parenti-Castelli, eds., Kluwer Academic Publishers, pp. 401–410.
Clavel, R., 1990, “Device for the Movement and Positioning of an Element in Space,” United States Patent No. 4,976,582.
Di Gregorio, R., and Parenti-Castelli, V., 1998, “A Translational 3-DOF Parallel Manipulator,” Advances in Robot Kinematics: Analysis and Control, J. Lenarčič and M. L. Husty, eds., Kluwer Academic Publishers, pp. 49–58.
Tsai,  L. W., and Joshi,  S., 2000, “Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator,” ASME J. Mech. Des., 122(4), pp. 439–446.
Frisoli, A., Checcacci, D., Salsedo, F., and Bergamasco, M., 2000, “Synthesis by Screw Algebra of Translating In-Parallel Actuated Mechanisms,” Advances in Robot Kinematics, J. Lenarčič and M. M. Stanišić, eds., Kluwer Academic Publishers, pp. 433–440.
Di Gregorio, R., and Parenti-Castelli, V., 1999, “Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for a Pure Translation Motion,” Proc. of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, pp. 520–525.


Grahic Jump Location
General kinematic model of the i-th limb
Grahic Jump Location
Kinematic model of the i-th limb for the new architecture
Grahic Jump Location
Geometric interpretation of the translation singularities




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