Position analysis of a new family of 3-DOF translational parallel manipulators

Journal of Mechanical Design

Volumn 125, Issue 2, 2003, Pages 316-322

  Carricato, Marco ^a   Parenti Castelli, Vincenzo ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; LINEAR EQUATIONS; MATHEMATICAL MODELS; POLYNOMIALS; UNIVERSAL JOINTS;

POSITION ANALYSIS; REVOLUTE JOINTS; THREE DEGREES OF FREEDOM TRANSLATIONAL PARALLEL MANIPULATORS; UNIVARIATE POLYNOMIALS;

MANIPULATORS;

EID: 0038265891     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1564073     Document Type: Article

References (19)

1. Gough, V. E., and Whitehall, S. G., 1962, "Universal Tyre Test Machine," Proc. of the 9th International Congress of F.I.S.I.T.A., 117, pp. 117-135.
2. Stewart, D., 1965, "A Platform with Six Degrees of Freedom," Proc. Inst. Mech. Eng., 180(15), pp. 371-386.
3. Innocenti, C., and Parenti-Castelli, V., 1993, "Echelon Form Solution of Direct Kinematics for the General Fully-Parallel Spherical Wrist," Mech. Mach. Theory, 28(4), pp. 553-561.
4. Gosselin, C. M., and Lavoie, E., 1993, "On the Kinematic Design of Spherical Three-Degree-of-Freedom Parallel Manipulators," Int. J. Robot. Res., 12(4), pp. 394-402.
5. Gosselin, C. M., Sefrioui, J., and Richard, M. J., 1994, "On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture," ASME J. Mech. Des., 116(2), pp. 594-598.
6. Vischer, P., and Clavel, R., 2000, "Argos: a Novel 3-DOF Parallel Wrist Mechanism," Int. J. Robot. Res., 19(1), pp. 5-11.
7. Karouia, M., and Hervé, J. M., 2000, "A Three-DOF Tripod for Generating Spherical Rotation," Advances in Robot Kinematics, J. Lenarčič and M. M. Stanišič, eds., Kluwer Academic Publishers, pp. 395-402.
8. Lee, K. M., and Shah, D. K., 1988, "Kinematic Analysis of a Three-Degrees-of-Freedom In-Parallel Actuated Manipulator," IEEE Trans. Rob. Autom., 4(3), pp. 354-360.
9. Waldron, K. J., Raghavan, M., and Roth, B., 1989, "Kinematics of a Hybrid Series-Parallel Manipulation System," ASME J. Dyn. Syst., Meas., Control, 111(2), pp. 211-221.
10. Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., and Gosselin, C. M., 2000. "Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator," ASME J. Mech. Des., 122(1), pp. 17-24.
11. Clavel, R., 1988, "Delta, a Fast Robot with Parallel Geometry," Proc. of the 18th International Symposium on Industrial Robots, Lausanne, Switzerland, pp. 91-100.
12. Hervé, J. M., and Sparacino, F., 1991, "Structural Synthesis of Parallel Robots Generating Spatial Translation," Proc. of the 5th IEEE Int. Conference on Advanced Robotics, Pisa, Italy, pp. 808-813.
13. Tsai, L. W., and Stamper, R. E., 1996. "A Parallel Manipulator with Only Translational Degrees of Freedom," MECH-1152, Proc. of the 1996 ASME Design Engineering Technical Conferences, Irvine, CA.
14. Wenger, P., and Chablat, D., 2000, "Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide," Advances in Robot Kinematics, J. Lenarčǐ and M. M. Stanišič, eds., Kluwer Academic Publishers, pp. 305-314.
15. Zhao, T. S., and Huang, Z., 2000, "A Novel Three-DOF Translational Platform Mechanism and Its Kinematics," MECH-14101, Proc. of the 2000 ASME Design Engineering Technical Conferences, Baltimore, MD.
16. Di Gregorio, R., and Parenti-Castelli, V., 1998, "A Translational 3-DOF Parallel Manipulator," Advances in Robot Kinematics: Analysis and Control, J. Lenarčič and M. L. Husty, eds., Kluwer Academic Publishers, pp. 49-58.
17. Tsai, L. W., and Joshi, S., 2000, "Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator," ASME J. Mech. Des., 122(4), pp. 439-446.
18. Carricato, M., and Parenti-Castelli, V., 2003, "A Family of 3-DOF Translational Parallel Manipulators," ASME J. Mech. Des., 125(2), pp. 302-307.
19. Salmon, G., 1885, Lessons Introductory to the Modern Higher Algebra, Hodges, Figgis, and Co., Dublin.