Position Analysis in Analytical Form of the 3-PSP Mechanism-Reference-Cited by-同舟云学术

Position Analysis in Analytical Form of the 3-PSP Mechanism

Published:1999-07-01 Issue:1 Volume:123 Page:51-55
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Di Gregorio Raffaele¹,Parenti-Castelli Vincenzo²

Affiliation:

1. Department of Engineering, University of Ferrara, Via Saragat, 1 44100 Ferrara, Italy

2. DIEM, University of Bologna Viale Risorgimento, 2 40136 Bologna, Italy

Abstract

In this paper the direct and the inverse position analysis of a 3-dof fully-parallel mechanism, known as 3-PSP mechanism, is addressed and solved in analytical form. The 3-PSP mechanism consists of two rigid bodies, one movable (platform) and the other fixed (base), connected to each other by means of three equal serial kinematic chains (legs) of type PSP, P and S standing for prismatic and spherical pair respectively. Both the direct and the inverse position analysis of this mechanism lead to nonlinear equations that are difficult to solve. In particular, the inverse position analysis comprises different subproblems which need specific solution techniques. Finally a numerical example is reported.

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/123/1/51/5797536/51_1.pdf

Reference19 articles.

1. Tsai, L. W., 1998, “Systematic Enumeration of Parallel Manipulators,” Proceedings of the 1st European-American Forum on Parallel Kinematic Machines, Milan, Italy, pp. 1–11.

2. Sternheim, F., 1987, “Computation of the Direct and Inverse Kinematic Model of the Delta 4 Parallel Robot,” Robotersysteme, 3, pp. 199–203.

3. Clavel, R., 1988, “A Fast Robot With Parallel Geometry,” 18th Int. Symposium on Industrial Robots, Sydney, Australia, pp. 91–100.

4. Herve`, J. M., and Sparacino, F., 1991, “Structural Synthesis of “Parallel” Robots Generating Spatial Translation,” Fifth ICAR International Conference on Advanced Robotics, June 19–22, Pisa, Italy, pp. 808–813.

5. Tsai, L. W., 1996, “Kinematics of a three-dof Platform With Three Extensible Limbs,” Recent Advances in Robot Kinematics, J. Lenarcic and V. Parenti-Castelli, eds., Kluwer Academic Publishers, pp. 401–410.

Cited by 23 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Investigation of Positional Error in P3R Mechanism with Joint Clearance;2021 IEEE Bombay Section Signature Conference (IBSSC);2021-11-18

2. Mathematical modeling of a 3-CUP parallel mechanism using the Fermat point;Mechanism and Machine Theory;2021-07

3. Unified Pose Parametrization for 1T2R Parallel Manipulators;Mechanism Design for Robotics;2018-08-31

4. Workspace Analysis of a 3-PSP Motion Platform;Advances in Robot Kinematics 2016;2017-07-27

5. Implementing the homotopy continuation method in a hybrid approach to solve the kinematics problem of spatial parallel robots;Intelligent Service Robotics;2017-03-23