Geometric and Manufacturing Issues of the 3-UPU Pure Translational Manipulator

Chebbi, A. H.; Parenti‐Castelli, Vincenzo

doi:10.1007/978-90-481-9689-0_68

Cited by 4 publications

(2 citation statements)

References 5 publications

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“…Although many researchers 15,16,22,26,27 have done some related analyses on the 3-UPU parallel mechanism, it is based on the following assumption:…”

Section: Unexpected Rotationsmentioning

confidence: 99%

“…Gogu 25 addressed the constraint singularities in connection with the structural parameters of parallel mechanism. Chebbi and Parenti-Castelli 26 collected the most relevant results on singularities and workspace of the 3-UPU parallel mechanism proposed by Tsai, and investigated the influence of some geometric parameters -especially the orientation of revolute axes and the locations of its legs -on the singularity loci and workspace size. Chebbi et al 27 studied the singularity based on the kinetostatic of the 3-UPU parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

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A novel 4-UPU translational parallel mechanism with fault-tolerant configurations

Fang

Guo

et al. 2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper aims at designing a pure translational parallel mechanism constructed by UPU (universal-prismatic-universal joint) kinematic limbs. First, the typical problem of unexpected rotations is pointed out from analyzing the typical 3-UPU parallel mechanism, and the reason for unexpected rotations of parallel mechanism constructed by UPU kinematic limbs is analyzed. Then, in order to design a pure translational parallel mechanism constructed by UPU without the unexpected rotations, the 2-UPU single loop is chosen as the basic structure to construct the 4-UPU translational parallel mechanism. Each 2-UPU single loop can be used to constrain a rotation about an axis of the linear complexes, which defined the unexpected rotations. Therefore, a novel type of 4-UPU pure translational parallel mechanism with redundant actuations is proposed. Since the existence of redundantly actuated kinematic limb, this proposed parallel mechanism possesses analytical forward kinematics, and its singularity can be avoided completely. Finally, the workspace and fault-tolerant performance are analyzed. When the proposed 4-UPU parallel mechanism is located in a fault-tolerant configuration, the moving platform can still possess movable ability to realize the given task even if one kinematic limb is in locked-joint failure mode, and the fault-tolerant workspace is obtained.

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“…Although many researchers 15,16,22,26,27 have done some related analyses on the 3-UPU parallel mechanism, it is based on the following assumption:…”

Section: Unexpected Rotationsmentioning

confidence: 99%