Abstract
A particular way to identify single-loop not-overconstrained architectures for translational parallel manipulators (TPMs) is proposed and discussed. Then, the position and the velocity analyses of one out of the identified architectures is presented.
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Notes
- 1.
The term “connectivity” (Davidson and Hunt 2004) referred to two links of a mechanism indicates the number of degrees-of-freedom (dof) of the relative motion between those two links. Here, the phrase “limb connectivity” stands for the connectivity between platform and base when connected only by that limb.
- 2.
The displacement sub-groups of Shoenflies, {X(u)}, are the unions of the spatial translation sub-group, {T}, with one rotation-around-an-axis sub-group, {R(C, u)}, where u and C are the unit vector and a point of the rotation axis. Since the unit vectors are ∞2, as many are the Shoenflies sub-groups.
- 3.
P, R, and U stand for prismatic pair, revolute pair and universal joint, respectively. Bold letters indicate the actuated pairs; whereas, the hyphen separates the strings which give the limb topologies by moving from the base to the platform.
- 4.
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Acknowledgments
This work has been developed at the Laboratory of Advanced Mechanics (MECH-LAV) of Ferrara Technopole, supported by UNIFE funds, by Regione Emilia Romagna (District Councillorship for Productive Assets, Economic Development, Telematic Plan) POR-FESR 2007–2013, Attività I.1.1.
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Di Gregorio, R. (2016). Kinematic Analysis of a Single-Loop Translational Manipulator. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_9
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DOI: https://doi.org/10.1007/978-3-319-33714-2_9
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