Abstract
According to the topology design method of parallel mechanism based on position and orientation characteristic equations, a new type of three-translation parallel mechanism with symbolic forward position solution and partial motion decoupling is designed. Firstly, its topological characteristics such as position and orientation characteristic, degree of freedom and coupling degree, are analyzed and obtained. Secondly, using the kinematics modeling principle based on topological characteristics proposed by the author, the symbolic forward position solutions of the parallel mechanism are derived.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Bouri, M., Clavel, R.: The linear delta: developments and applications. In: Robotics. VDE, pp. 1–8 (2010)
Clavel, R.: A fast robot with parallel geometry. In: Proceeding of the 18th International Symposium on Industrial Robots, pp. 91–100 (1988)
Kong, X., Gosselin, C.M.: Type synthesis of 3-DOF translational parallel manipulators based on screw theory. J. Mech. Des. 126, 83–92 (2008)
Mazare, M., Taghizadeh, M., Rasool Najafi, M.: Kinematic analysis and design of a 3-DOF translational parallel robot. Int. J. Autom. Comput. 14(4), 432–441 (2017)
Zeng, Q., Ehmann, K., Cao, J.: Tri-pyramid robot: design and kinematic analysis of a 3-DOF translational parallel manipulator. Rob. Comput.-Integr. Manuf. 30(6), 648–657 (2014)
Shen, H., Yang, T., Li, J., Zhang, D., Deng, J., Liu, A.: Evaluation of topological properties of parallel manipulators based on the topological characteristic indexes. Robotica 38(8), 1–19 (2019)
Yang, T., et al.: Theory and Application of Robot Mechanism Topology. Science Press, Beijing (2012)
Yang, T., Liu, A., Shen, H., et al.: Topology Design of Robot Mechanisms. Springer, Singapore (2018)
Shen, H., Chablat, D., Zen, B., Li, J., Wu, G., Yang, T.A.: Translational three-degrees-of-freedom parallel mechanism with partial motion decoupling and analytic direct kinematics. Journal of Mechanisms and Robotics 12(2), 021112-1–021112-7 (2019)
Acknowledgement
The support by the National Natural Science Foundation of China (Grant Nos. 51975062, 51475050, 51375062) is greatly appreciated.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Shen, H., Ji, H., Deng, J., Wu, G. (2020). A New 3T Parallel Mechanism: Topological Design, Analysis and Symbolic Position Solutions. In: Pisla, D., Corves, B., Vaida, C. (eds) New Trends in Mechanism and Machine Science. EuCoMeS 2020. Mechanisms and Machine Science, vol 89. Springer, Cham. https://doi.org/10.1007/978-3-030-55061-5_1
Download citation
DOI: https://doi.org/10.1007/978-3-030-55061-5_1
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-55060-8
Online ISBN: 978-3-030-55061-5
eBook Packages: EngineeringEngineering (R0)