Journal
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume 20, Issue 2, Pages 181-190Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2003.820853
Keywords
dependent joint group; inactive joint; screw theory; 3T1R parallel manipulator (3TIR-PM); type synthesis
Ask authors/readers for more resources
3T1R four-degrees-of-freedom (DOF) parallel manipulators (3T1R-PMs) are the parallel counterparts of the 4-DOF SCARA serial, robots. In a 3T1R-PM, the moving platform, can generate 3T1R motion (also, called Schonflies motion), which refers to a rotation about any axis. with a given direction in conjunction with 3-DOF translations. A method is proposed for the type synthesis of 3T1R-PMs based on screw theory. The wrench systems of a 3T1R parallel kinematic chain (3T1R -PKC) and its legs,are first analyzed. A general procedure is then proposed for the type synthesis of 3T1R-PMs. The type synthesis of legs for 3T1R-PKCs, the type synthesis of 3T1R-PKCs, as well as the selection of actuated joints of 3T1R-PMs, are dealt with in sequence. 3T1R-PKCs With and without inactive joints are synthesized. The phenomenon of dependent joint groups in a 3T1R-PKC is revealed for the first time, Several 3T1R-PMs with identical type of legs fire obtained.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available