A Translational Parallel Manipulator with Fine Adjustment of Platform Orientation(Machine Elements, Design and Manufacturing)

Abstract

We present a kinematic design of a translatlonaI parallel manipulat 〔 ，r with 丘nc adjustmcllt capability of plutf ' orm urientation ． In order to clarify possible kinematicstructures for 正 t， structural synthesis of fUlly decoupled mechanism and partially decoupl 巳 d mechani3m both with six degrees of freedom (dof) was carried out ． AII possib！ e kinematic structures were obtained ． Of these ， one partially decoupled mecha 囗 isIn was selected and a kinematic d 巳sign (， f a prototype manipulator Lvas d〔me ． Its charactcristics ill terI 皿 s of workspace ， singularity ， oricntation adjustment capabi 】 ity、 and coupling characteristics between translational and rotational displacement were discussed with experimental results regarding fine a 〔 加 stmellt capab ［ lity of pla し form orientation