This article presents the position analysis of a new family of 3-limbed 3-dof parallel manipulators, whose output links exhibit a motion of pure translation with respect to the base. Each limb contains four passive revolute joints and an active prismatic pair, which can be mounted anywhere along the kinematic chain or replaced by a fifth revolute one. A univariate polynomial has been found that solves the direct position problem wherever the actuators are placed. The inverse analysis has been carried out in closed-form for all possible locations of the actuated joints. Finally, numerical examples are provided.
Carricato M., Parenti-Castelli V. (2003). Position analysis of a new family of 3-DOF translational parallel manipulators. JOURNAL OF MECHANICAL DESIGN, 125(2), 316-322 [10.1115/1.1564073].
Position analysis of a new family of 3-DOF translational parallel manipulators
Carricato M.;Parenti-Castelli V.
2003
Abstract
This article presents the position analysis of a new family of 3-limbed 3-dof parallel manipulators, whose output links exhibit a motion of pure translation with respect to the base. Each limb contains four passive revolute joints and an active prismatic pair, which can be mounted anywhere along the kinematic chain or replaced by a fifth revolute one. A univariate polynomial has been found that solves the direct position problem wherever the actuators are placed. The inverse analysis has been carried out in closed-form for all possible locations of the actuated joints. Finally, numerical examples are provided.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
