A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics-Reference-Cited by-同舟云学术

A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

Published:2020-02-06 Issue:2 Volume:12 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Shen Huiping¹,Chablat Damien²,Zeng Boxiong¹,Li Ju³,Wu Guanglei⁴,Yang Ting-Li¹

Affiliation:

1. School of Mechanical Engineering, Changzhou University, Changzhou 213016, China

2. Laboratoire des Sciences, du Numérique de Nantes, CNRS (UMR 6004), Nantes 44321, France

3. School of Mechanical Engineering, Changzhou University, Changzhou 213164, China

4. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China

Abstract

Abstract According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. First, the main topological characteristics, such as the POC, degree-of-freedom, and coupling degree, were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed, which corresponds to its partial motion decoupling property.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4045972/6648715/jmr_12_2_021112.pdf

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