Position Analysis of a New 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), 316-322 (Jun 11, 2003) (7 pages) doi:10.1115/1.1564073 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., 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. Lenarc̆ic̆ and M. M. Stanis̆ic̆, 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 Trans. 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.
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. Lenarc̆ic̆ and M. M. Stanis̆ic̆, 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.
Di Gregorio, R., and Parenti-Castelli, V., 1998, “A Translational 3-DOF Parallel Manipulator,” Advances in Robot Kinematics: Analysis and Control, J. Lenarc̆ic̆ 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.
Carricato,  M., and Parenti-Castelli,  V., 2003, “A Family of 3-DOF Translational Parallel Manipulators,” ASME J. Mech. Des., 125(2), pp. 302–307.
Salmon, G., 1885, Lessons Introductory to the Modern Higher Algebra, Hodges, Figgis, and Co., Dublin.


Grahic Jump Location
Kinematic model of the i-th limb




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