Affiliation:
1. Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macao SAR, China
Abstract
A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to eliminate all singularities and generate an isotropic manipulator has been presented. With the variation on architectural parameters, the reachable workspace of the manipulator is generated and compared. Especially, it is illustrated that the manipulator in principle possesses a uniform workspace with a constant hexagon shape cross section. Furthermore, the dexterity characteristics are investigated in the local and global sense, respectively, and some considerations for real machine design have been proposed as well.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
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