Kinematics of a tricept-like parallel robot

Author

Guan, Liwen ; Wang, Jinsong ; Yun, Yuan ; Wang, Liping

Author_Institution

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

Volume

6

fYear

2004

fDate

10-13 Oct. 2004

Firstpage

5312

Abstract

The paper presents a dissymmetrical tricept-like parallel robot providing two rotational freedoms and one translational freedom. It has a fixed base and a platform connected by three legs. One leg connects the fixed base and the platform by a universal joint a prismatic joint respectively. The other two legs are UPS chains or SPS chains. All of the three prismatic joints in the robot are actuated joints. The robots are aimed to use in robotics or machining. The mobility of the proposed structure is firstly analyzed. Then inverse kinematics problems are described in closed forms and velocity equation of the new parallel robot is given. After workspace analysis and dexterity analysis, the kinematic characteristics of the robot and the tricept robot are compared.

Keywords

manipulator kinematics; SPS chains; UPS chains; inverse kinematics; prismatic joints; tricept-like parallel robot; Instruments; Kinematics; Leg; Legged locomotion; Manipulators; Parallel robots; Performance analysis; Pulp manufacturing; Service robots; Uninterruptible power systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1401038

Filename

1401038