A Translational 3-dof Parallel Manipulator

Gregorio, Raffaele Di; Parenti‐Castelli, Vincenzo

doi:10.1007/978-94-015-9064-8_5

Cited by 107 publications

(36 citation statements)

References 9 publications

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“…Gosselin and Kong [10] presented a 3-DOF translational parallel robot, with fully decoupled input-output equations, in a Canadian provisional patent application. Di Gregorio and Parenti Castelli [6] presented a 3-DOF parallel robot with three RRPRR legs. They presented the kinematic model and the singularity analysis for this robot.…”

Section: -Dof Translational Parallel Manipulatorsmentioning

confidence: 99%

Triflex: variable-configuration parallel manipulators with self-aligning

Simoni

Simas

Martins

2014

J Braz. Soc. Mech. Sci. Eng.

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parallel robot imposes constraints on the moving platform to apply the degrees-of-freedom specified in the design of the robot. Without a change in the design of the robot, it is not possible to change its geometry before or during the execution of a task. Due to the closed-loop kinematic chain, in general, parallel robots require high manufacturing precision because any misalignment in the joint axes can cause internal overconstraints which are harmful to the robot.A characteristic of the new class of variable-configuration parallel manipulator proposed in this paper is that its form can be changed without changing the degrees-of-freedom and the characteristics of the motion of the moving platform. The change in the configuration of this new class of parallel manipulator is managed by additional degreesof-freedom called degrees-of-freedom of self-aligning. These additional degrees-of-freedom of self-aligning are passive/nulls, they permit a change in the configuration before starting the task execution but during the task execution they do not have any influence, i.e. their velocities are nulls.As an initial study on this new class of parallel manipulators, we address a change in the geometry of the base of the parallel manipulator. The geometry of the base of this parallel manipulator can change completely depending on the shape of the floor and this change is managed by degrees-of-freedom of self-aligning. These degrees-of-freedom of self-aligning give additional degrees-of-freedom to the kinematic chain of the parallel manipulator and they do not interfere in the motion of the moving platform. However, they give dexterity to the legs of the parallel manipulator when the base changes its geometry. This type of parallel manipulator can operate in confined environments where stiffness, accuracy and force are necessary and the change of the robot geometry permits dexterity and agility so that the parallel manipulator can adapt to different Abstract This paper presents a new class of parallel manipulators called variable-configuration parallel manipulators with self-aligning. These parallel manipulators can change their form to carry out different tasks in different places, this change being managed by additional degrees-of-freedom of self-aligning. These degrees-of-freedom of self-aligning do not interfere in the motion of the moving platform, they are passive/null degrees-of-freedom that only permit changes in the form of the parallel manipulator. As an example, we present a new 3-DOF translational variable-configuration parallel manipulator with self-aligning. We develop the mobility analysis, the workspace volume analysis, the position analysis and the velocity analysis of this new 3-DOF parallel manipulator.

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Section: -Dof Translational Parallel Manipulatorsmentioning

confidence: 99%

Triflex: variable-configuration parallel manipulators with self-aligning

Simoni

Simas

Martins

2014

J Braz. Soc. Mech. Sci. Eng.

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“…(3) 3 4 T : Rotation θ 3 of F 4 with respect to F 3 about X 3 axes (Torsional backlash error). (4) 4 5 T : Translation of F 5 with respect to F 4 along X 4 axes (Prismatic joint). (5) 5 6 T : Rotation θ 5 of F 6 with respect to F 5 about Z 5 axes (Passive rotation).…”

Section: Error Analysismentioning

confidence: 99%

“…The fully parallel mechanism exhibits high stiffness in most of the mechanism workspace. 1 There were interesting theoretical analyses, [1][2][3][4][5] which made a strong case for feasibility of simple and practical 3-DOF, fully parallel mechanisms and have come to be known as 3-UPU parallel mechanisms. The 3-UPU mechanism is the particular mechanism of the most generalized 3-RRPRR mechanism, wherein in the first and last, two individual revolute joints are replaced with universal joints, respectively.…”

Section: Introductionmentioning

confidence: 99%

Practical feasibility of a high-precision 3-UPU parallel mechanism

Bhutani

Dwarakanath

2013

Robotica

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In this paper, we revisit the 3-degrees of freedom (DOF) pure translational mechanism. The mathematical model and the design considerations are discussed. A detailed sensitivity and error analysis is carried out and the results are discussed in a new perspective. The feasibility of the practical 3-DOF pure translational mechanism is established with novel design considerations to take care of theoretical mobility and geometrical constraints. We describe and validate the theoretical observations with stage-wise prototype models and experiments. The experimental results concur that all is well with 3-UPU in contrast to what is presented in refs. [6,9,10].

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“…In the literature, the analyses that bring to identify such topologies have been mainly addressed through three different approaches: (i) group theory (Hervé 1978(Hervé , 1995(Hervé , 1999(Hervé , 2004Hervé & Sparacino 1991;Karouia & Hervé 2000Huynh & Hervé 2005;Lee & Hervé 2006;Rico et al 2006), (ii) screw theory (Tsai 1999;Fang & Tsai 2002;Frisoli et al 2000;Kong & Gosselin 2002, 2005Huang & Li 2002Carricato 2005) and (iii) velocity-loop equations (Di Gregorio & Parenti-Castelli 1998;Di Gregorio 2001a, 2001bCarricato & Parenti-Castelli 2002. The first approach (group theory) determines the generic {L j } by composing the set of motions generated by each joint of the kinematic chain that is candidate to be a limb, and, then, searches for the geometric conditions the potential limb must satisfy in order to make a subset of an assigned motion subgroup of {D} be a subset of {L j }.…”

Section: Determination Of Limbs' Topologies For An Lm-pmmentioning

confidence: 99%

Parallel Manipulators with Lower Mobility

Gregorio¹

2006

Industrial Robotics: Theory, Modelling and Control

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A Translational 3-dof Parallel Manipulator

Cited by 107 publications

References 9 publications

Triflex: variable-configuration parallel manipulators with self-aligning

Triflex: variable-configuration parallel manipulators with self-aligning

Practical feasibility of a high-precision 3-UPU parallel mechanism

Parallel Manipulators with Lower Mobility

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