Advertisement

Kinematic analysis of a hybrid serial-parallel manipulator

  • X. Z. ZhengEmail author
  • H. Z. Bin
  • Y. G. Luo
Original Article

Abstract

The kinematic analysis of a new type hybrid serial-parallel manipulator is presented. This manipulator is based on two kinds of 3-UPU parallel mechanisms (PM). Each 3-UPU possesses one platform, one base and three limbs, and hence has 3 degrees of freedom (DOF). Each limb comprises of universal (U), prismatic (P), and universal (U) joints in series. Therefore the hybrid manipulator has totally 6 degrees of freedom and has also an elegant structure. The moving platform (mid platform) of the first PM moves with pure translation with respect to the fixed base and the moving platform (end platform) in the second PM only changes its orientation with respect to the mid platform. In this paper, closed-form kinematic solutions are obtained for this type of mechanism and related theoretical results have been verified numerically.

Keywords

Parallel Mechanism (PM) Forward Kinematic Analysis 3-UPU 

References

  1. 1.
    Hunt KH (1978) Kinematic geometry of mechanism. Clarendon Press, OxfordGoogle Scholar
  2. 2.
    Di Gregorio R, Parenti-Castelli V (1999) Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion. In: 1999 IEEE/ASME Int. conf. on advanced intelligent mechatronics, pp 520–525Google Scholar
  3. 3.
    Di Gregorio R, Parenti-Castelli V (1998) A translational 3-DOF parallel manipulator. Advanced robot kinematics analysis and control. Kluwer Academic Publishers, Dordrecht, pp 49–58Google Scholar
  4. 4.
    Di Gregorio R (2001) Statics and singularity loci of the 3-UPU Wrist. 2001 IEEE/ASME Int Conf Advanced Intelligent Mechatronics Proc, pp 470–475Google Scholar
  5. 5.
    Karouia M, Herve JM (2000) A three-dof of tripod for generating spherical rotation. In: Advances in robot kinematics. Kluwer Academic Publishers, Dordrecht, pp 395–402Google Scholar
  6. 6.
    Di Gregorio R (2001) Kinematics of the translational 3-URC mechanism. IEEE/ASME Int conf on advanced intelligent mechatronics, pp 147–152Google Scholar
  7. 7.
    Tsai LW (1996) A parallel manipulator with only translational degrees of freedom. ASME 96-DETC-MECH-1152, Irvine, CAGoogle Scholar
  8. 8.
    Tanev TK (2000) Kinematics of a hybrid (parallel-serial) robot manipulator. Mech Mach Theory 35:1183–1196CrossRefGoogle Scholar
  9. 9.
    Romdhane L (1999) Design and analysis of a hybrid serial-parallel manipulator. Mech Mach Theory 34(7):1037–1055CrossRefGoogle Scholar
  10. 10.
    Kaufman R, Latimer JP, Tolefson DC (1985) The design and operation of a Pacific Ocean deep-ocean mining test ship: R/V Deepsea Miner II. In: Proceedings of the 17th annual offshore technology conference, Houston, TX, 6–9 May 1985Google Scholar
  11. 11.
    McMary JF, Person A, Ozudogru Y (1976) A 7500 ton capacity shipboard completely gimballed and heave compensated platform. In: Proc. of the 8th annual offshore technology conference, Houston, TX, 3–6 May 1976Google Scholar

Copyright information

© Springer-Verlag London Limited 2004

Authors and Affiliations

  1. 1.School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhanPR China 430074
  2. 2.School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhanPR China 430074

Personalised recommendations