Design and analysis of CICABOT: a novel translational parallel manipulator based on two 5-bar mechanisms

Abstract

SUMMARYThis work presents the CICABOT, a novel 3-DOF translational parallel manipulator (TPM) with large workspace. The manipulator consists of two 5-bar mechanisms connected by two prismatic joints; the moving platform is on the union of these prismatic joints; each 5-bar mechanism has two legs. The mobility of the proposed mechanism, based on Gogu approach, is also presented. The inverse and direct kinematics are solved from geometric analysis. The manipulator's Jacobian is developed from the vector equation of the robot legs; the singularities can be easily derived from Jacobian matrix. The manipulator workspace is determined from analysis of a 5-bar mechanism; the resulting workspace is the intersection of two hollow cylinders that is much larger than other TPM with similar dimensions.

Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

“…Furthermore, Ruiz-Torres et al [4] introduced a practical prototype based on two five bars mechanisms, a concept very similar to the previously developed in [5]. Table 1.…”

Kinematic analysis of a novel 3-CRU translational parallel mechanism

“…The CICABOT was presented in Ruiz et al (2012), which was a novel 3-DOF TPM based on two five-bar mechanisms. The workspace of the CICABOT was large and its workspace volume was limited by the size of the links, and both the inverse and direct kinematics were very simple to determine.…”