Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator

[+] Author and Article Information
Pierre-Luc Richard

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4pierre-luc.richard.3@ulaval.ca

Clément M. Gosselin2

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4gosselin@gmc.ulaval.ca

Xianwen Kong3

Département de Génie Mécanique, Université Laval, Québec, Québec, Canada, G1K 7P4xwkong@gmc.ulaval.ca

For a complete list of classes of 3TIR parallel manipulators, see (11).

Strictly speaking, P joints do not have an axis but only a direction. The spatial location of the axis is arbitrary and does not affect the kinematic derivations.


Author to whom correspondence should be addressed.


With the Department of Mechanical Engineering, School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh, UK, EH14 4AS (from July 2007).

J. Mech. Des 129(6), 611-616 (May 26, 2006) (6 pages) doi:10.1115/1.2717611 History: Received February 08, 2006; Revised May 26, 2006

A four-degree-of-freedom (DOF) 3T1R parallel manipulator is presented in this paper. This manipulator generates the family of so-called Schönflies motions, SCARA motions or 3T1R motions, in which the moving platform can translate in all directions and rotate around an axis of a fixed direction. The kinematic analysis of this architecture is presented, including the study of the constraint singular configurations, kinematic singular configurations, and the determination of the workspace. A prototype (the Quadrupteron) is also presented and demonstrated. The characteristics of the proposed prototype are (a) there is no constraint singularity, (b) its input-output equations are partially decoupled, (c) its kinematic singular configurations can be expressed using an equation in the angle of rotation of the moving platform and are thus easy to avoid at the design stage, and (d) its forward displacement analysis requires the solution of a univariate quadratic equation and can therefore be solved efficiently.

Copyright © 2007 by American Society of Mechanical Engineers
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Grahic Jump Location
Figure 2

Partially decoupled 1-C̱̋R̋R̋+3-Ć̋ŔŔR̋ parallel manipulator

Grahic Jump Location
Figure 3

CAD model of the Quadrupteron

Grahic Jump Location
Figure 4

Photograph of the Quadrupteron

Grahic Jump Location
Figure 1

4-P̱ŔŔŔR̋ manipulator



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