Forward Position Analysis of the 3-DOF Module of the TriVariant: A 5-DOF Reconfigurable Hybrid Robot

[+] Author and Article Information
Meng Li

School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

Tian Huang1

School of Mechanical Engineering, Tianjin University, Tianjin 300072, Chinahtiantju@public.tpt.tj.cn

Derek G. Chetwynd

School of Engineering, University of Warwick, Coventry CV4 7AL, U.K.

S. Jack Hu

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


Corresponding author.

J. Mech. Des 128(1), 319-322 (Mar 20, 2005) (4 pages) doi:10.1115/1.2125971 History: Received June 21, 2004; Revised March 20, 2005

This paper deals with the forward position analysis of a 3-DOF parallel mechanism module, which forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept robot, achieved by integrating one of the three active limbs into the passive one. The analytical method is employed to obtain the forward position solutions. It shows that the forward position analysis of the TriVariant is much simpler than that of the Tricept.

Copyright © 2006 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 1

The TriVariant robot

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Figure 2

Schematic diagram of the TriVariant

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Figure 3

Solutions of forward kinematics of the TriVariant robot, (a)–(d) correspond to solutions 1–4, respectively



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