Kinematic design of a translational parallel manipulator with fine adjustment of platform orientation

Abstract

We present a kinematic design of a translational parallel manipulator with fine adjustment capability of platform orientation (TPMFAO). In order to clarify possible kinematic structures for it, structural synthesis of fully decoupled mechanism and partially decoupled mechanism both with six degrees of freedom (dof) was carried out based on the synthesis results of translational and rotational parallel mechanisms with three dof. All possible kinematic structures are listed as the result. Of these, one partially decoupled mechanism was selected and a kinematic design of a prototype manipulator was done. Its characteristics in terms of workspace, singularity, orientation adjustment capability, and coupling characteristics between translational and rotational displacement are discussed.

Kinematics analysis of a redundantly actuated 4-RUU translational parallel manipulator and its nonredundant 3-RUU counterpart

“…23 analyzed the mobility and Tanabe et al. 24,25 analyzed the utility workspace of 3-5R translational parallel mechanism. Yu et al.…”

“…Tsai 21,22 performed a study of the wellconditioned workspace, stiffness, and inertia properties of 3-RUU translational parallel manipulators. Huda et al 23 analyzed the mobility and Tanabe et al 24,25 analyzed the utility workspace of 3-5R translational parallel mechanism. Yu et al 26 built a static model of 3-RUU translational parallel manipulator through the forces (torques) analysis of every link and the moving platform taking gravity of links into account.…”

Efficient kinematic solution to a multi-robot with serial and parallel mechanisms

“…The Stewart mechanism has been proposed for different robotic applications. Recently, many researchers have paid a lot of attention on researching the translational parallel manipulators and mechanisms due to only three degrees of freedom and outputs translational motion without changing its orientation [8]. Meanwhile, many alternative mechanical structures with less number of limbs have been proposed worldwide to overcome the shortcomings associated with sixlimb platforms, such as tripod [10].…”

“…However equation (7) does not have a form-closure solution. The Jacobian matrix of this system is (8) so that a numerical solution is yielded using the Levenberg-Marquardt algorithm. Therefore, the transformation between and is solved so far.…”

2A2-K04 Development of a spherical parallel mechanism with large orientation workspace around controllable target point(Parallel Robot/Mechanisms and its Control)

“…[3]や球面機構 [4][5]がある． 文献 [2][3]のロボットはスチュワートプラットフォームを構成 する球対偶のうち 3 つを同一点にした機構であり，その点が 機構的な回転中心となる．しかし回転中心を支持する必要が あるため，上記の作業対象には適さない．文献 [4][5]の機構は 球面機構と直進対偶を用いた 3 つの同一の連鎖からなる対称 的な機構である．このような連鎖をとりうる機構の構成は文 献 [6]…”