Journal
ROBOTICA
Volume 25, Issue -, Pages 461-466Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574706003286
Keywords
overconstrained mechanisms; symmetric parallel-kinematics; mechanisms; rotational-translational mechanisms; three-DOFs PKMs; linear motor; high-speed; high-acceleration; five-axis machine-tools
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The paper introduces a family of three-DOFs translational-rotational Parallel-Kinematics Mechanisms (PKMs) as well as the mobility analysis of such family using Lie-group theory. Each member of this family has two-rotational one-translational DOFs. A novel mechanism is presented and analyzed as a representative of that family. The use and the practical value of that modular mechanism are emphasized.
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