A finite screw approach to type synthesis of three-DOF translational parallel mechanisms
نویسندگان
چکیده
منابع مشابه
Type synthesis of 3-DOF linear translational parallel manipulators
Three-DOF linear TPMs (translational parallel manipulators) refer to TPMs whose forward displacement analysis can be performed by solving a set of linear equations. Based on the results of the type synthesis of TPMs, the method for the type synthesis of linear TPMs composed of R (revolute) and P (prismatic) joints and the displacement group theory, this paper deals with the type synthesis of li...
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A systematic method is developed for the type synthesis of 4-DOF nonoverconstrained parallel mechanisms with three translations and one rotation inspired by the design of H-4. First, the motion requirements of primary platform and secondary platform of the 4-DOF nonoverconstrained parallel mechanisms are analyzed, and the conflict between the number of actuators and the constraint system for no...
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In this paper a new procedure for type synthesis of low-DoF parallel robots based on screw theory is presented. The motivation of these work is that for many industrial applications, in particular in the machine-tool field, less than 6 degree of freedom (6-DoF) may be needed to complete the task. For example, for milling operation in the machine-tool domain, the rotation of the platform around ...
متن کاملNumeration and type synthesis of 3-DOF orthogonal translational parallel manipulators
Low-degree-of-freedom (Low-DOF) parallel manipulators (PMs) have drawn extensive interests, particularly in type synthesis in which two main formal approaches were established by using the reciprocal screw system theory and Lie group theory. This paper aims at numeration and type synthesis of orthogonal translational parallel manipulators (OTPMs) by resorting to an integration of the groupbased...
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In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2016
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2016.02.018