A Translational 3-dof Parallel Manipulator

  • R. Di Gregorio
  • V. Parenti-Castelli
Chapter

Abstract

This paper presents a new architecture of a three degree-of-freedom parallel manipulator that, if properly assembled, exhibits pure translational motion of the output link (platform) with respect to the frame (base). To prove the existence of a pure translational motion a mobility analysis of the manipulator has been carried out. Moreover, a singularity analysis has also been conducted that shows the occurrence of configurations of the manipulator where the pure translational feature is no longer controllable.

Keywords

Parallel Manipulator Parallel Mechanism Universal Joint Mobility Analysis Kinematic Pair 
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Copyright information

© Springer Science+Business Media Dordrecht 1998

Authors and Affiliations

  • R. Di Gregorio
    • 1
  • V. Parenti-Castelli
    • 2
  1. 1.Department of EngineeringUniversity of FerraraFerraraItaly
  2. 2.Dept. of Mechanical EngineeringUniversity of BolognaBolognaItaly

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