Loading...

Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base

Motevalli, B ; Sharif University of Technology | 2010

707 Viewed
  1. Type of Document: Article
  2. DOI: 10.1016/j.robot.2009.10.001
  3. Publisher: 2010
  4. Abstract:
  5. A method is presented to synthesize 5 degrees of freedom (DoFs) of 3 translational and 2 rotational (3T2R) parallel kinematic structures. This method is based on the theory of linear transformation and geometrical analysis. Central to this method is a set of novel 5 DoFs 3T2R parallel mechanisms (PMs). Based on the legs configuration, the generated mechanisms are classified. Moreover, the promising mechanisms of each class are introduced with respect to some criteria, i.e.: (a) degree of coupling between the actuators and degrees of freedom; (b) easy kinematics and control command; (c) easy construction (or low cost construction); and, (d) manufacturability. With reference to these criteria, some discussions are given on the promising mechanisms. Finally, to demonstrate the role of legs configuration in relation to the characteristics of a manipulator, the kinematic analysis of two of the introduced mechanisms is compared
  6. Keywords:
  7. 5 DoFs ; Kinematics ; Parallel mechanism ; Structural synthesis ; Control command ; Degree of coupling ; Degrees of freedom ; Geometrical analysis ; Kinematic Analysis ; Linear transformation ; Low-cost construction ; Manufacturability ; Parallel kinematics ; Parallel manipulators ; Parallel mechanism ; Actuators ; Linear transformations ; Manipulators ; Mechanisms ; Degrees of freedom (mechanics)
  8. Source: Robotics and Autonomous Systems ; Volume 58, Issue 3 , 2010 , Pages 307-321 ; 09218890 (ISSN)
  9. URL: http://www.sciencedirect.com/science/article/pii/S0921889009001559