Kinematic Analysis of a New 3T1R Parallel Manipulator
Journal
Mechanisms and Machine Science
Journal Volume
147
Start Page
662
End Page
672
ISSN
22110992
22110984
ISBN (of the container)
9783031844485
9783031284465
9783031404580
9783031256547
9789819947201
9783319181257
9783031911781
9783030918910
9789400727205
9783319054308
Date Issued
2023
Author(s)
Abstract
Parallel manipulators are known to have higher structural rigidity and end-effector speed than serial manipulators. However, the size, payload, rigidity, and repeatability of parallel manipulators highly depend on the types of active and passive joints used. Compared with other joint types, revolute joints are structurally simpler and have an unlimited rotation range. They can be easily preloaded to increase the stiffness and eliminate clearance. Hence, revolute joints are preferable for parallel manipulators that need to have a smaller size, larger payload, and higher reparability. This paper presents a new parallel manipulator that uses only revolute joints as the active and passive joints. This parallel manipulator can generate three translational motions and one rotational motion. The kinematic analysis is provided to facilitate the design of the new parallel manipulator. We expect that the proposed parallel manipulator can provide an alternative for selecting parallel manipulators to meet different industrial applications.
Event(s)
16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Subjects
3t1r Motion
Inverse Kinematics
Parallel Manipulator
Workspace Analysis
Industrial Manipulators
Inverse Problems
Rigidity
3t1r Motion
Joint Type
Kinematic Analysis
Parallel Manipulators
Passive Joints
Revolute Joints
Serial Manipulators
Simple++
Structural Rigidity
Workspace Analysis
Inverse Kinematics
Publisher
Springer Science and Business Media B.V.
Description
16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023. Tokyo. conference code:303879
Type
conference paper