0
TECHNICAL BRIEFS

Kinematics of the Translational 3-URC Mechanism

[+] Author and Article Information
Raffaele Di Gregorio

Department of Engineering, University of Ferrara, Via Saragat 1, 44100 Ferrara, Italy

J. Mech. Des 126(6), 1113-1117 (Feb 14, 2005) (5 pages) doi:10.1115/1.1814390 History: Received April 12, 2001; Revised April 06, 2004; Online February 14, 2005
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.

References

Innocenti, C., and Parenti-Castelli, V., 1994, “Exhaustive Enumeration of Fully-Parallel Kinematic Chains,” ASME Int. Winter Annual Meeting, Chicago (USA), DSC-Vol. 55-2, pp. 1135–1141.
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, Dordrecht, The Netherlands, pp. 401–410.
Di Gregorio, R., and Parenti-Castelli, V., 1998, “A Translational 3-dof Parallel Manipulator,” Advances in Robot Kinematics: Analysis and Control, J. Lenarcic and M. L. Husty, eds., Kluwer Academic, Dordrecht, The Netherlands, pp. 49–58.
Clavel, R., 1988, “DELTA, a Fast Robot With Parallel Geometry,” Proc. of the 18th International Symposium on Industrial Robots, Sydney (Australia), pp. 91–100.
Di Gregorio, R., 2000, “Closed-Form Solution of the Position Analysis of the Pure Translational 3-RUU Parallel Mechanism,” Proc. of the 8th Symposium on Mechanisms and Mechanical Transmissions, MTM 2000, October 19–22, 2000, Timisoara (Romania), Vol. 1, pp. 119–124.
Gosselin,  L., and Angeles,  J., 1989, “The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator,” ASME J. Mech. Transmis. Autom. Des., 111, No. 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, No. 4, pp. 553–561.
Agrawal,  S. K., Desmier,  G., and Li,  S., 1995, “Fabrication and Analysis of a Novel 3-dof Parallel Wrist Mechanism,” ASME J. Mech. Des., 117, No. 2A, pp. 343–345.
Karouia, M., and Hervé, J. M., 2000, “A Three-dof Tripod for Generating Spherical Rotation,” Advances in Robot Kinematics, J. Lenarcic and M. M. Stanisic, eds., Kluwer Academic, Dordrecht, The Netherlands, pp. 395–402.
Di Gregorio,  R., 2001, “A new Parallel Wrist Employing Only Revolute Pairs: the 3-RUU Wrist,” Robotica, 19, No. 3, pp. 305–309.
Di Gregorio,  R., 2001, “Kinematics of a new Spherical Parallel Manipulator With Three Equal Legs: the 3-URC Wrist,” J. Rob. Syst., 18, No. 5, pp. 213–219.
Husty,  M. L., 1996, “An Algorithm for Solving the Direct Kinematics of the Stewart-Gough Platform,” Mech. Mach. Theory, 31, No. 4, pp. 365–380.
Hervé, J.-M., and Sparacino, F., 1991, “Structural Synthesis of Parallel Robots Generating Spatial Translation,” Proc. of 1991 IEEE Int. Conf. on Advaced Robotics, Pisa (Italy), June 19–22, 1991, pp. 808–813.
Hervé, J.-M., 1995, “Group Mathematics and Parallel Link Mechanisms,” Proc. of the 9th World Congress on the Theory of Machines and Mechanisms, Milano (Italy), August 30–September 2, 1995, pp. 2079–2082.
Tsai, L.-W., Walsh, G. C., and Stamper, R. C., 1996, “Kinematics of a Novel Three-dof Translational Platform,” Proc. of 1996 IEEE Int. Conf. on Robotics and Automation, Minneapolis (USA), April 24–26, 1996, pp. 3446–3451.
Stamper, R. C., Tsai, L.-W., and Walsh, G. C., 1997, “Optimization of a Three-dof Translational Platform for Well-Conditioned Workspace,” Proc. of 1997 IEEE Int. Conf. on Robotics and Automation, Albuquerque (USA), April 21–28, 1997, pp. 3250–3255.
Bruzzone, L. E., Molfino, R., and Zoppi, M., 2002, “A Cost-Effective Purely Translational Parallel Robot for Rapid Assembly Tasks,” Proc. of the 3rd Chemnitz Seminar on Parallel Kinematics, Chemnitz (Germany), April 23–25, 2002, pp. 429–440.
Carricato,  M., and Parenti-Castelli,  V., 2002, “Singularity-Free Fully Isotropic Translational Parallel Mechanisms,” Int. J. Robot. Res., 21, No. 2, pp. 161–174.
Chablat,  D., and Wenger,  P., 2003, “Architecture Optimization of a 3-dof Translational Parallel Mechanism for Machining Applications: the Orthoglide,” IEEE Trans. Rob. Autom., 19, No. 3, pp. 403–410.
Kong, X., and Gosselin, C. M., 2002, “A Class of 3-dof Translational Parallel Manipulators With Linear Input-Output Equations,” Proc. of Workshop on Fundamental Issues and Future Directions for Parallel Mechanisms and Manipulators, Québec City (Canada), October 3–4, pp. 25–32.
Liu,  X.-J., Jeong,  J. I., and Kim,  J., 2003, “A Three Translational Dofs Parallel Cube Manipulator,” Robotica, 21, pp. 645–652.

Figures

Grahic Jump Location
A translational 3-URC mechanism
Grahic Jump Location
The ith leg of a translational 3-URC mechanism
Grahic Jump Location
Rotation singularities: geometric condition (b)
Grahic Jump Location
Translation singularities: geometric condition (II)

Tables

Errata

Discussions

Related

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