Full-Mobility Three-CCC Parallel-Kinematics Machines: Kinematics and Isotropic Design

Abstract

The subject of this paper is twofold: the kinematics and the isotropic design of six degrees-of-freedom (DOF), three-CCC parallel-kinematics machines (PKMs). Upon proper embodiment and dimensioning, the PKMs discussed here, with all actuators mounted on the base, exhibit interesting features, not found elsewhere. One is the existence of an isotropy locus, as opposed to isolated isotropy points in the workspace, thereby guaranteeing the accuracy and the homogeneity of the motion of the moving platform (MP) along different directions within a significantly large region of their workspace. The conditions leading to such a locus are discussed in depth; several typical isotropic designs are brought to the limelight. Moreover, the kinematic analysis shows that rotation and translation of the MP are decoupled, which greatly simplifies not only the kinetostatic analysis but also, most importantly, their control. Moreover, it is shown that the singularity loci of this class of mechanism are determined only by the orientation of their MP, which also simplifies locus evaluation and eases its representation.