A Novel 3-DoF Purely Translational Parallel Mechanism

Author

Lou, Yunjiang ; Li, Zexiang

Author_Institution

Dept. of Electron. & Comput. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2144

Lastpage

2149

Abstract

A novel 3-DoF purely translational parallel mechanism, the Orthotripod, is proposed. It is a variant of the tripod based parallel machine and has a similar architecture to the Orthoglide. In order to reduce the number of passive joints and remove the effect of ease of abrasion of revolute joints, spherical joints are applied in the parallelogram. A mathematic mobility analysis shows the mechanism is indeed 3-DoF purely translational. We optimally design the Orthotripod and the tripod based parallel machine by maximizing the well-conditioned workspace. The optimized Orthotripod possesses a nearly ball-shaped workspace and has much better kinematic performance than the optimized tripod based parallel mechanism. The proposed mechanism is adaptable for machine tool applications

Keywords

machine tools; manipulator kinematics; 3-DoF purely translational parallel mechanism; Orthoglide; Orthotripod; kinematic performance; machine tool; mathematic mobility analysis; nearly ball-shaped workspace; passive joints; revolute joints; spherical joints; translational parallel mechanism; tripod based parallel machine; Computer architecture; Concurrent computing; Intelligent robots; Kinematics; Machine tools; Manipulators; Manufacturing industries; Mathematics; Parallel machines; Parallel robots; Orthotripod; machine tool; parallel manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282496

Filename

4058701