A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
| contributor author | Shen, Huiping | |
| contributor author | Chablat, Damien | |
| contributor author | Zeng, Boxiong | |
| contributor author | Li, Ju | |
| contributor author | Wu, Guanglei | |
| contributor author | Yang, Ting-Li | |
| date accessioned | 2022-02-04T14:27:16Z | |
| date available | 2022-02-04T14:27:16Z | |
| date copyright | 2020/02/06/ | |
| date issued | 2020 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_12_2_021112.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4273686 | |
| description abstract | According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. First, the main topological characteristics, such as the POC, degree-of-freedom, and coupling degree, were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed, which corresponds to its partial motion decoupling property. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics | |
| type | Journal Paper | |
| journal volume | 12 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4045972 | |
| page | 21112 | |
| tree | Journal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 002 | |
| contenttype | Fulltext |
