On the analysis of a new spatial three-degrees-of-freedom parallel manipulator

Author

Liu, Xin-Jun ; Wang, Jinsong ; Gao, Feng ; Wang, Li-Ping

Author_Institution

Dept. of Precision Instrum., Tsinghua Univ., Beijing, China

Volume

17

Issue

6

fYear

2001

fDate

12/1/2001 12:00:00 AM

Firstpage

959

Lastpage

968

Abstract

In this paper, a new spatial three-degrees-of-freedom (two degrees of translational freedom and one degree of rotational freedom) parallel manipulator is proposed. The parallel manipulator consists of a base plate, a movable platform, and three connecting legs. The inverse and forward kinematics problems are described in closed forms and the velocity equation of the new parallel manipulator is given. Three kinds of singularities are also presented. The workspace for the manipulator is analyzed systematically; in particular, indices to evaluate the mobility (in this paper, mobility means rotational capability) of the moving platform of the manipulator will be defined and discussed in detail. Finally, a topology architecture of the manipulator is introduced. The parallel manipulator has wide application in the fields of industrial robots, simulators, micromanipulators, and parallel machine tools

Keywords

digital simulation; industrial manipulators; machine tools; manipulator kinematics; micromanipulators; base plate; connecting legs; forward kinematics; industrial robots; inverse kinematics; micromanipulators; movable platform; parallel machine tools; rotational freedom; simulators; spatial three-degrees-of-freedom parallel manipulator; translational freedom; velocity equation; Equations; Joining processes; Kinematics; Leg; Manipulators; Micromanipulators; Parallel machines; Parallel robots; Service robots; Topology;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.976031

Filename

976031