A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads-Reference-Cited by-同舟云学术

A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads

Published:2014-01-01 Issue:1 Volume:11 Page:5
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Chen Xiang¹²,Liu Xin-Jun¹,Xie FuGui¹²,Sun Tao³

Affiliation:

1. State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, PR China

2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China

3. School of Mechanical Engineering, Tianjin University, Tianjin, China

Abstract

This paper presents a comparison study of two important three-degree-of-freedom (DOF) parallel manipulators, the Sprint Z3 head and the A3 head, both commonly used in industry. As an initial step, the inverse kinematics are derived and an analysis of two classes of limbs is carried out via screw theory. For comparison, three transmission indices are then defined to describe their motion/force transmission performance. Based on the same main parameters, the compared results reveal some distinct characteristics in addition to the similarities between the two parallel manipulators. To a certain extent, the A3 head outperforms the common Sprint Z3 head, providing a new and satisfactory option for a machine tool head in industry.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/57458

Reference19 articles.

1. A Platform with Six Degrees of Freedom

2. On the Improvement of Multi-Legged Locomotion over Difficult Terrains Using a Balance Stabilization Method

3. The Stewart platform manipulator: a review

4. Performance Evaluation of Redundant Parallel Manipulators Assimilating Motion/Force Transmissibility

5. The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

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