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TECHNICAL PAPERS

Kinematic Condition Analysis of Three-DOF Pure Translational Parallel Manipulators

[+] Author and Article Information
Doik Kim, Wan Kyun Chung

Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering, POSTECH(Pohang University of Science & Technology), Nam-Gu Hyoja-Dong San 31, Pohang, KyongBuk, 790-784 South Korea

J. Mech. Des 125(2), 323-331 (Jun 11, 2003) (9 pages) doi:10.1115/1.1564573 History: Received June 01, 2001; Online June 11, 2003
Copyright © 2003 by ASME
Topics: Motion , Manipulators
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References

Tsai, L. W., 1996 “Kinematics of a Three-DOF Platform with Three Extensible Limbs,” Recent Advances in Robot Kinematics, J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publishers, pp. 401–410.
Stamper, R. E., Tsai, L. W., and Walsh, G. C., 1997 “Optimization of a Three DOF Translational Platform for Well-Conditioned Workspace,” IEEE Int. Conf. on Robotics and Automation, pp. 3250–3255.
Di Gregorio, R., 2001 “Kinematics of the Translational 3-URC Mechanism,” IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 147–152.
Hervé, J. M., and Sparacino, F., 1991 “Structural Synthesis of “Parallel” Robots Generating Spatial Translation,” Int. Conf. on Advanced Robotics, pp. 808–813.
Frisoli, A., Checcacci, D., Salsedo, F., and Bergamasco, M., 2000 “Synthesis by Screw Algera of Translating In-Parallel Actuated Mechanisms,” Advances in Robot Kinematics, J. Lenarvcivc and M. M. Stanivsivc, 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 Translational Motion,” IEEE Int. Conf. on Robotics and Automation, pp. 520–525.
Lee, S., and Kim, S., 1994, “Kinematic Feature Analysis of Parallel Manipulator Systems,” IEEE Int. Conf. on Robotics and Automation, pp. 77–82.
Kim,  D., and Chung,  W. K., 2003, “Analytic Formulation of Reciprocal Screws and Its Application to Non-Redundant Robot Manipulators,” ASME J. Mech. Des., accepted.
Lipkin,  H., and Duffy,  J., 1985, “The Elliptic Polarity of Screws,” ASME J. Mech. Transm., Auton. Des., 108, pp. 377–387.
Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Inc.
Tsai, L. W., 1998, “Systematic Enumeration of Parallel Manipulators,” Technical Research Report, No. T.R.98–33.
Kumar,  V., 1992, “Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms,” ASME J. Mech. Des., 114, pp. 349–358.

Figures

Grahic Jump Location
Effect of IRS for parallel manipulators
Grahic Jump Location
4-DOF leg configuration
Grahic Jump Location
A strictly decoupled 3-DOF translational manipulator with 4R1P leg configuration
Grahic Jump Location
A strictly decoupled 3-DOF translational manipulator with 3R1P leg configuration

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