Title :
Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains
Author :
Leguay-Durand, Sylvie ; Reboulet, Claude
Author_Institution :
SUPAERO, ONERA-CERT, Toulouse, France
Abstract :
An analytical and algebraic procedure based on the screw-systems theory for the design of general parallel manipulators is presented. After recalling some theoretical features, serial kinematic chains are considered and then arranged in parallel, the resulting motion being specified as an elementary screw-system. Finally, constraints for the geometrical design as well as kinematic properties are deduced. The method described is applied to the design of a parallel structure with U-P-U joint kinematic chains
Keywords :
computational geometry; control system synthesis; manipulator kinematics; matrix algebra; 3-DOF parallel translating manipulator; UPU joints; constraints; geometrical design; kinematic chains; prismatic joints; revolute joints; screw-systems theory; Character recognition; Computational geometry; Fasteners; Inspection; Jacobian matrices; Kinematics; Leg; Manipulator dynamics; Parallel robots; Service robots;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.656577
