Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Abstract

This paper presents the mobility and kinematics analysis of a novel parallel mechanism that is composed by one base, one platform and three identical limbs with CRC joints. The paper obtains closed-form solutions to the direct and inverse kinematics problems, and determines the mobility of the mechanism and instantaneous kinematics by applying screw theory. The obtained results show that this parallel robot is part of the family 2R1T, since the platform shows 3 DOF, i.e.: one translation perpendicular to the base and two rotations about skew axes. In order to calculate the direct instantaneous kinematics, this paper introduces the vector m h , which is part of the joint velocity vector that multiplies the overall inverse Jacobian matrix. This paper compares the results between simulations and numerical examples using Mathematica and SolidWorks in order to prove the accuracy of the analytical results.

Kinematic analysis and optimum design of a novel 2PUR-2RPU parallel robot

“…In response to the applications, many type-synthesis methods of 2R1T PKMs were introduced, such as screw theory [11,12], Lie-groups [13,14], and conformal geometric algebra [15]. With the methods at hand, a variety of mechanisms were designed and investigated, such as 3-PRS [16], 3-CUP [17], 3-CRS/PU [18], 3-PUU [19], Tex3 [20], 2PRU-UPR [21], and 3-CRC [22], where P, R, S, C, U stand for prismatic, revolute, spherical, cylindrical, and universal joint, respectively.…”

Kinematic Analysis and Simulation of an Uncoupled Translational Parallel Mechanism

“…Parallel mechanism (PM), which comprises of a moving platform (MP) connected to a fixed base (FB) by several serial open-single kinematic chains, is the essential part of robot technology and has been extensively studied by many scholars during past decades [1][2] . Contrasted with 6-DOFs PM, the limited-DOF PM possesses many advantages in terms of simpler mechanical structure and control system, easier kinematics and dynamic analysis.…”

“…Contrasted with 6-DOFs PM, the limited-DOF PM possesses many advantages in terms of simpler mechanical structure and control system, easier kinematics and dynamic analysis. Due to those superiorities, the limited-DOF PM owns the expansive application prospect in advanced manufacturing industry and robot industry [3][4] . Translational parallel mechanism (TPM) with 3-DOFs has been concerned specially, which has widely applications in the fields of industrial robots, machine tools, medical robots, and so on.…”