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Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms

  • Antonius G. L. HoevenaarsEmail author
  • Patrice Lambert
  • Just L. Herder
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)

Abstract

Parallel Manipulators with Configurable Platforms (PMCPs) have platforms with internal degrees of freedom and form a class of manipulators that is not covered by existing type synthesis methods. Because the minimum number of legs for a PMCP is three, fully parallel 3DOF PMCPs may be considered an elementary subset of PMCPs. To support the extension of type synthesis methods to PMCPs, this paper presents the first kinematic designs of manipulators from this subset. A structured design method has led to the kinematic design of two spatial manipulators that are both capable of independently performing one translation, one rotation and one internal platform motion.

Keywords

Parallel mechanisms  Configurable platform  3DOF  Grasping motion  Spatial 

Notes

Acknowledgments

This research was financially supported by the Dutch Technology Foundation STW (project number 12158).

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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Antonius G. L. Hoevenaars
    • 1
    Email author
  • Patrice Lambert
    • 1
  • Just L. Herder
    • 1
  1. 1.Department of Precision and Microsystems EngineeringDelft University of TechnologyDelftThe Netherlands

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