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The Tetrahedral Tripod

  • Conference paper
Parallel Kinematic Machines

Part of the book series: Advanced Manufacturing ((ADVMANUF))

Abstract

The Tetrahedral-Tripod is a novel spatial, parallel-link manipulator that offers pure translational motion. In this paper we describe the ideas leading to the development of low degree-of-freedom parallel link mechanisms for use in machine tool applications. The tetrahedral tripod offers superior theoretical characteristics by admitting closed-form solutions for its kinematics and dynamics. Further, its motion and mechanical construction are simple while offering high stiffness and accuracy. It offers a relatively large, singularity-free workspace. It may be used as the basis of a 3-axis machine tool. When used in conjunction with a universal table, it offers the potential for a stiff and accurate 5-axis, series-parallel machine tool. Keywords. Parallel link manipulators, Stewart platform, Machine tools.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois, 61801, USA

    B. S. El-Khasawneh & P. M. Ferreira

Authors
  1. B. S. El-Khasawneh
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  2. P. M. Ferreira
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Editor information

Editors and Affiliations

  1. ITIA-CNR, Viale Lombardia 20/a, I-20131, Milano, Italy

    C. R. Boër MAS, PhD (Prof., Dr. Eng.) & L. Molinari-Tosatti PhD (Dr. Eng.,) (Prof., Dr. Eng.) &  (Dr. Eng.,)

  2. Department of Mechanical Engineering and Engineering Science, University of North Carolina at Charlotte, 9201, University City Blvd., Charlotte, NC, 28223-0001, USA

    K. S. Smith (Professor) (Professor)

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© 1999 Springer-Verlag London Limited

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El-Khasawneh, B.S., Ferreira, P.M. (1999). The Tetrahedral Tripod. In: Boër, C.R., Molinari-Tosatti, L., Smith, K.S. (eds) Parallel Kinematic Machines. Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-4471-0885-6_30

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  • DOI: https://doi.org/10.1007/978-1-4471-0885-6_30

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1228-0

  • Online ISBN: 978-1-4471-0885-6

  • eBook Packages: Springer Book Archive

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