Abstract
Parallel kinematic machines (PKMs) whose moving platforms realises one-translational and two-axes rotation (1T2R) motion pattern, find a wide variety of applications. However, a majority of the 1T2R PKMs suffer from singularities and parasitic motions. Higher dexterity requirements further constrict its already limited workspace volume. This paper introduces a novel 1T2R parallel mechanism to address typical issues in dexterity, singularities, and parasitic motions. The mathematical modelling covers a comprehensive analytical inverse kinematics modelling. The analyses performed evaluate mobility, singularities, and dexterity of the mechanism.
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Acknowledgement
The first author is financially supported through the Prime Minister’s Research Fellowship (PMRF) scheme funded by the Ministry of Education (MoE), India.
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John, I., Mohan, S., Sudheer, A.P. (2023). Conceptual Design and Kinematic Analysis of a 1T2R Parallel Manipulator. In: Laribi, M.A., Nelson, C.A., Ceccarelli, M., Zeghloul, S. (eds) New Advances in Mechanisms, Transmissions and Applications. MeTrApp 2023. Mechanisms and Machine Science, vol 124. Springer, Cham. https://doi.org/10.1007/978-3-031-29815-8_13
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DOI: https://doi.org/10.1007/978-3-031-29815-8_13
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