Abstract
3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator's subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 648-657 |
| Number of pages | 10 |
| Journal | Robotics and Computer-Integrated Manufacturing |
| Volume | 30 |
| Issue number | 6 |
| DOIs | |
| State | Published - Dec 2014 |
Funding
The authors would like to acknowledge the support of the U.S. Department of Energy DE-EE0005764 .
Keywords
- Displacement group theory
- Kinematics
- Mechanism design
- Parallel manipulator
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- General Mathematics
- Computer Science Applications
- Industrial and Manufacturing Engineering