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RESEARCH PAPERS

Dynamic Formulation and Performance Comparison of the 3-DOF Modules of Two Reconfigurable PKM—the Tricept and the TriVariant

[+] Author and Article Information
Meng Li, Jiangping Mei

School of Mechanical Engineering,  Tianjin University, Tianjin 300072, People’s Republic of China

Tian Huang1

School of Mechanical Engineering,  Tianjin University, Tianjin 300072, People’s Republic of China

Xueman Zhao

School of Mechanical Engineering,  Tianjin University, Tianjin 300072, People’s Republic of Chinahtiantju@public.tpt.tj.cn

Derek G. Chetwynd

School of Engineering,  University of Warwick, Coventry CV4 7AL, United Kingdom

S. Jack Hu

Department of Mechanical Engineering,  The University of Michigan, Ann Arbor, MI 48109

1

Corresponding author

J. Mech. Des 127(6), 1129-1136 (Feb 09, 2005) (8 pages) doi:10.1115/1.1992511 History: Received September 09, 2004; Revised February 09, 2005

Utilizing the virtual work principle, this paper presents a method for the inverse dynamic formulation of the 3-degree-of-freedom (DOF) modules of the well-known Tricept robot and a newly invented hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept, achieved by integrating one of the three active limbs into the passive one. Both local and global conditioning indices are proposed for the dynamic performance evaluation and comparison of these two robots. These indices are designed on the basis of the maximum actuated joint force required for producing a unit acceleration of the mobile platform. For a given set of geometrical and inertial parameters, it has been shown that the TriVariant has a similar overall dynamic performance compared with that of the Tricept.

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Copyright © 2005 by American Society of Mechanical Engineers
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Figures

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Figure 1

(a) The Tricept, (b) the TriVariant

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Figure 2

Schematic diagrams of 3-DOF parallel mechanisms of (a) the Tricept and (b) the TriVariant

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Figure 3

The limb model of the TriVariant

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Figure 4

The limb model of the Tricept

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Figure 5

Geometrical parameters and task workspace of the TriVariant

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Figure 6

Distribution of the σDmax in the middle layer of Wt

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Figure 7

Distribution of σDmax (i=1,2,3) in the middle layer of Wt, (a) Tricept, (b) TriVariant

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