Kinematics of a New High-Precision Three-Degree-of-Freedom Parallel Manipulator

[+] Author and Article Information
Farhad Tahmasebi

 NASA—Goddard Space Flight Center, Greenbelt, MD 20771Farhad.Tahmasebi@nasa.gov

J. Mech. Des 129(3), 320-325 (Feb 23, 2006) (6 pages) doi:10.1115/1.2406103 History: Received June 03, 2005; Revised February 23, 2006

Closed-form direct and inverse kinematics of a new three-degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three-DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base mounted, higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of the tangent of the half-angle between one of the limbs and the base plane. Hence, there are at most 16 assembly configurations for the manipulator. In addition, it is shown that the 16 solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

New manipulator with base-mounted actuators and inextensible limbs

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Figure 2

New manipulator prototype

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Figure 3

Alternative limb configuration

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Figure 4

Slider-crank driver for the manipulator

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Figure 5

Depiction of angles αi and ηi





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