Analysis of two 3-DOF parallel mechanisms with constrained Stewart Platform structure

Author

Lee, Seok-Hee ; Kim, Whee-Kuk ; Yi, Byung-Ju ; Suh, Il-Hong

Author_Institution

Dept. of Control & Instrum. Eng., Korea Univ., Seoul

fYear

2006

fDate

15-19 May 2006

Firstpage

4227

Lastpage

4233

Abstract

Two 3-DOF parallel mechanisms, a translational mechanism and a spherical mechanism, are analyzed. Each of two mechanisms commonly possesses three UPS serial sub-chains, and an additional passive 3-DOF PPP-type serial sub-chain and a passive 3-DOF RRR-type serial sub-chain are incorporated for the translational device and the rotational device, respectively. Such additional passive serial sub-chains act as constraints to restrict the output motion of the mechanism either in a 3-DOF translational space or in a 3-DOF spherical space. The position solutions of the proposed mechanisms and their first-order kinematic models are derived. Then their workspaces and kinematic characteristics are examined via the kinematic isotropic index

Keywords

manipulator kinematics; position control; 3DOF parallel mechanisms; RRR-type serial sub-chain; UPS serial sub-chains; constrained Stewart platform structure; first-order kinematic models; kinematic isotropic index; output motion restrictions; passive 3DOF PPP-type serial sub-chain; position solutions; spherical mechanism; translational mechanism; Actuators; Aerospace simulation; Analytical models; Closed-form solution; Communication system control; Information analysis; Instruments; Kinematics; Leg; Uninterruptible power systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642352

Filename

1642352