The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28 th -order univariate algebraic equation,...

Submitted: Jun 1, 2013; Accepted: Jul 12, 2013; Published: Aug 18, 2013 Abstract: This paper investigates one of the complex degrees of freedom parallel manipulator, contains both rotational and orientational degrees of freedom, with machine tool application, known as Tricept PKM. Positioning and orienting rates via unique displacement in actuators, is one of the desired characteristics of robo...

This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-offreedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical ...

Abstract: This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parall...

After Gough [1] and Stewart [2] in the 50's and 60's introducing the idea of ‘hexapods’ (6-dof) [3][4], Clavel and his Delta structure [5] in the late 80's opened a new era with machines able to reach extremely high performances, used first for pick-and-place operations, and more recently for 3 or 5-axis machining. Considering the machining of complex shape objects, the solution often proposed ...

Compared with serial structured machine tools and robots, parallel kinematic machine tools and robots have many advantages. Many different topologies of parallel mechanisms with 3-6 DOF have been used. Considering that some limitations are indeed due to the use of parallel mechanisms, it is appealing to investigate architectures based on hybrid arrangements where serial and parallel concepts ar...

The parallel manipulators are skilled for their precision manufacturing but need optimized design to get maximum dexterity that will lead towards better industrial production rates. 3-DOF tricept is chosen utilize its capabilities functionality. Three performance parameters conditioning index, workspace volume, and global index used obtain optimum variables of mechanism. With a view compare the...

The growing interest in the use of parallel manipulators in machining applications requires clear determination of the workspace and dexterity. In this paper, the workspace optimization of a Tricept parallel manipulator under joint constraints is performed. This parallel manipulator has complex degrees of freedom and, therefore, leads to dimensionally inhomogeneous Jacobian matrices. Here, we d...