Two-mode overconstrained three-DOFs rotational-translational linear-motor-based parallel-kinematics mechanism for machine tool applications
نویسندگان
چکیده
The paper introduces a family of three-DOFs translationalrotational Parallel-Kinematics Mechanisms (PKMs) as well as the mobility analysis of such family using Lie-group theory. Each member of this family has two-rotational onetranslational DOFs. A novel mechanism is presented and analyzed as a representative of that family. The use and the practical value of that modular mechanism are emphasized.
منابع مشابه
Some New Parallel Mechanisms Containing the Planar Four-Bar Parallelogram
A parallelogram allows the output link to remain at a fixed orientation with respect to an input link, for which it acts as a unique role in the design of parallel mechanisms. In this paper, the unique role of a parallelogram is used completely to design some new parallel mechanisms with two to six degrees of freedom (DoFs). In these mechanisms, some with three DoFs possess the advantage of ver...
متن کاملKinematic Synthesis of Parallel Manipulator via Neural Network Approach
In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...
متن کاملA new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs
This paper proposes a new family of spatial 3-DOF (degree of freedom) parallel manipulators with two translational and one rotational DOFs. The manipulators in this family are the variations of the parallel manipulators, which are capable of very high rotational capability, introduced by X.-J. Liu, J. Wang, and G. Pritschow (“A new family of spatial 3-DoF fully parallel manipulators with high r...
متن کاملArgos: A Novel 3-DoF Parallel Wrist Mechanism
This article presents a novel parallel spherical mechanism called Argos with three rotational degrees of freedom. Design aspects of the first prototype built of the Argos mechanism are discussed. The direct kinematic problem is solved, leading always to four nonsingular configurations of the end effector for a given set of joint angles. The inverse-kinematic problem yields two possible configur...
متن کاملSingularity analysis of the HALF parallel manipulator with revolute actuators
This paper concerns the singuIariQ of the HALF parallel manipulato,: a novel three degrees of feedom (DoFs) mechanism, with revolute actuators. The parallel manipulato,: pmposed previousb, consists of a base plate, a movable platform, and three connecting legs. It has the advantages in terms of only single-DoF joints and high rotational capability The parallef manipulator has wide application i...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Robotica
دوره 25 شماره
صفحات -
تاریخ انتشار 2007