Kinematic Analysis of a Novel Translational Platform-Reference-Cited by-同舟云学术

Kinematic Analysis of a Novel Translational Platform

Published:2003-06-01 Issue:2 Volume:125 Page:308-315
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Callegari Massimo¹,Tarantini Matteo¹

Affiliation:

1. Department of Mechanics, Universita´ Politecnica delle Marche 60131 Ancona, Italy

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.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/125/2/308/5797795/308_1.pdf

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