Dimensional Synthesis of a Novel 3-URU Translational Manipulator Implemented through a Novel Method

Abstract

A dimensional synthesis of parallel manipulators (PMs) consists of determining the values of the geometric parameters that affect the platform motion so that a useful workspace with assigned sizes can be suitably located in a free-from-singularity region of its operational space. The main goal of this preliminary dimensioning is to keep the PM far enough from singularities to avoid high internal loads in the links and guarantee a good positioning precision (i.e., for getting good kinematic performances). This paper presents a novel method for the dimensional synthesis of translational PMs (TPMs) and applies it to a TPM previously proposed by the author. The proposed method, which is based on Jacobians’ properties, exploits the fact that TPM parallel Jacobians are block diagonal matrices to overcome typical drawbacks of indices based on Jacobian properties. The proposed method can be also applied to all the lower-mobility PMs with block diagonal Jacobians that separate platform rotations from platform translations (e.g., parallel wrists).

Multi-Objective Optimization of a Three Degree-of-Freedom Translational Parallel Kinematic Machine with Coplanar Rails

“…Yongdong [1] introduced a 3DoF translational PKM and performed position and velocity analysis for the mechanism and developed trajectory path for simulation and compared it with physical prototype. Gregorio [2] presented work on the novel 3 URU parallel robot and performed the dimensional analysis to find best dimensions for the PKM. Chao et al [3] studied several papers and reviewed different performance measures, optimization algorithms, and methods.…”

Simulation analysis of dual-motor driven two-finger mechanical claw based on SOLIDWORKS Simulation

“…Abroad, Di Gregorio Raffaele, School of Engineering, University of Ferrara, Italy, uses the characteristics of TPM parallel Jacobian as a block diagonal matrix, overcomes the typical defects of Jacobian-based indexing, and applies to all lowmobility parallel mechanisms with block diagonal Jacobian. It separates platform rotation from platform translation (e.g., parallel wrists) [4]. The University of Missouri designed and researched a handling robot to make cargo handling more efficient [5].…”