Kinematic Analysis of a Novel Translational Platform

Abstract

A new three-d.o.f. parallel mechanism, with 3-RPC topology, is presented in the paper and its kinematics is studied. The proposed architecture, if proper geometrical conditions are satisfied, has an overconstrained structure which allows motions of pure translation. The simple structure of the mechanism allows finding closed-form solutions for both inverse and direct position kinematics; the differential analysis has been developed as well, by deriving a symbolic expression for the Jacobian matrix. Then, some design considerations are exposed to keep the singular points out of the working space of the mechanism and all the isotropic configurations are eventually identified.

A novel three degrees of freedom partially decoupled robot with linear actuators

“…The proposed robot is formed with an asymmetrical active parallel manipulator with SP + SPR + SPU type limbs and a well-known symmetrical TPM. The main benefits of the topology of the proposed robot are (i) an exact solution is available to solve the FDA; (ii) the actual configuration of the robot can be determined choosing the signs of discriminants associated to two simple second-order algebraic equations; (iii) unlike other reported works, see for instance, 8,26 the FDA does not require the application, among other methods, of the Sylvester dialytic elimination method because the obtained nonlinear equations are solved sequentially and not simultaneously; iv) the degrees of freedom between the coupler and fixed platform are partially decoupled.…”

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

“…Zhao and Z. Huang [8] 3-RRC R. Di Gregorio [9] 3-URC X. Kong and C.M. Gosselin [10] 3-CRR M.Callegari and M. Tarantini [11] 3-RPC G. Gogu [12,13] 3-CRR (Isoglide) Y. Li and Q. Xu [14] 3-PRC W. Li , F. Gao and J. Zhang [15] R-CUBE M. Callegari , M. Palpacelli and M. Scarponi [16] 3-CPU M. Callegari , M. Palpacelli and M. Scarponi [17] 3-RCC M. Ruggiu [18] 3-CUR S. Briot and I.A. Bonev [19] 3-pantographs (Pantopteron) C = cylindrical joint, P = prismatic joint, R = revolute joint, S = spherical joint, U = universal joint.…”

Calibration of Parallel Kinematic Machines: Theory and Applications

“…Fig. 8 represents a 3-dof PKM (Callegari & Tarantini, 2003) witch has three legs with two cylindrical and one revolute joint. If the axes of the cylindrical joints of each leg is orthogonal to the axes of the joints connecting the leg to the fixed and mobile bases, then the motion of the mobile platform is a pure translation.…”