Title :
P-CUBE, A Decoupled Parallel Robot Only with Prismatic Pairs
Author :
Li, Weimin ; Zhang, Jianjun ; Gao, Feng
Author_Institution :
Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin
Abstract :
A new 3-DOF translational parallel robot, named P-CUBE, is presented in this paper. This robot has decoupled motion in x, y and z axes, and employs only prismatic pairs. The structure and kinematics of the robot are studied, which shows there exist rotational redundant constraints to the moving platform. Some modified structures to avoid the overconstrained situation are also introduced. This machine is suitable for heavy load and has high rigidity, which shows its potential in industry applications
Keywords :
motion control; robot kinematics; 3-DOF translational parallel robot; P-CUBE; decoupled motion; decoupled parallel robot; prismatic pairs; redundant constraints; Actuators; Computational geometry; Couplings; Design methodology; Industry applications; Kinematics; Leg; Manipulator dynamics; Parallel robots; Service robots; P-CUBE; decoupled motion; redundant constraints;
Conference_Titel :
Mechatronic and Embedded Systems and Applications, Proceedings of the 2nd IEEE/ASME International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-9721-5
DOI :
10.1109/MESA.2006.297001
