This paper proposes the mobility and kinematic analysis of a parallel manipulator (PM) able to generate a Schönflies motion of its moving platform. This motion consists of a spatial translation (3T) with a rotation about a fixed axis (1R). The manipulator has a fixed base and a moving platform connected by 4 legs. Each leg is a serial kinematic chain with an actuated prismatic joint (P), and two couples of revolute joints (R) with their axes being perpendicular and coplanar (such a couple of R joints forms a U joint). The mobility of the moving platform is analyzed by a procedure based on the screw theory while the forward and inverse position analyses are then dealt with by a vector approach. Finally, the singularities of the motion are inspected.

Mobility and kinematic analysis of a special class of 3T1R parallel manipulator

Ruggiu, Maurizio
2017-01-01

Abstract

This paper proposes the mobility and kinematic analysis of a parallel manipulator (PM) able to generate a Schönflies motion of its moving platform. This motion consists of a spatial translation (3T) with a rotation about a fixed axis (1R). The manipulator has a fixed base and a moving platform connected by 4 legs. Each leg is a serial kinematic chain with an actuated prismatic joint (P), and two couples of revolute joints (R) with their axes being perpendicular and coplanar (such a couple of R joints forms a U joint). The mobility of the moving platform is analyzed by a procedure based on the screw theory while the forward and inverse position analyses are then dealt with by a vector approach. Finally, the singularities of the motion are inspected.
2017
Forward and inverse position problems; Mobility; Singularities; Control and Systems Engineering; Computational Mechanics
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11584/236588
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