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RESEARCH PAPERS

Kinematic Analysis and Design of a New 3-DOF Translational Parallel Manipulator

[+] Author and Article Information
Yangmin Li

Department of Electromechanical Engineering, Faculty of Science and Technology,  University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macao SAR, Chinaymli@umac.mo

Qingsong Xu

Department of Electromechanical Engineering, Faculty of Science and Technology,  University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macao SAR, Chinaya47401@umac.mo

J. Mech. Des 128(4), 729-737 (Sep 05, 2005) (9 pages) doi:10.1115/1.2198254 History: Received January 28, 2005; Revised September 05, 2005

A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated and compared. Especially, it is illustrated that the manipulator in principle possesses a uniform workspace with a constant hexagon shape cross section. Furthermore, the dexterity characteristics are investigated in the local and global sense, respectively, and some considerations for real machine design have been proposed as well.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

A 3-PRC translational parallel manipulator

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Figure 2

Schematic representation of a 3-PRC TPM

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Figure 3

Geometry of one typical kinematic chain

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Figure 4

Representation of (a) inverse and (b) direct kinematics singular configurations for a 3-PRC TPM

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Figure 5

Reachable workspace of a 3-PRC TPM: (a) three-dimensional view; (b) x‐y section at different heights

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Figure 6

Workspace volume versus mobile platform size

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Figure 7

Workspace volume versus actuators layout angle

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Figure 8

Manipulability distribution of a 3-PRC TPM in three planes of (a) x=0, (b) y=0, and (c) z=−0.5m

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Figure 9

Distribution of reciprocal of the Jacobian matrix condition number for a 3-PRC TPM in three planes of (a) x=0, (b) y=0, and (c) z=−0.5m

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Figure 10

Global dexterity index versus actuators layout angle

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