Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator-Reference-Cited by-同舟云学术

Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator

Published:1999-12-01 Issue:1 Volume:122 Page:17-24
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Carretero J. A.¹,Podhorodeski R. P.¹,Nahon M. A.¹,Gosselin C. M.²

Affiliation:

1. Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada V8W 3P6

2. De´partement de Ge´nie Me´canique, Universite´ Laval, Que´bec, QC, Canada G1K 7P4

Abstract

A study of the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism is presented. The architecture of the mechanism is comprised of a mobile platform attached to a base through three identical prismatic-revolute-spherical jointed serial linkages. The prismatic joints are considered to be actuated. These prismatic actuators lie on a common plane and have radial directions of action. The mechanism’s inverse displacement solution is obtained. Since the mechanism has only 3 dof, constraint equations describing the inter-relationship between the six motion coordinates are derived. These constraints allow the definition of parasitic motions, i.e., motions in the three unspecified motion coordinates. Architecture optimization of the device is undertaken demonstrating that specific values of design variables allow minimization of parasitic motion. [S1050-0472(00)00101-X]

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/122/1/17/5797202/17_1.pdf

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