Synthesis and design of a novel 3T1R fully-parallel manipulator
2008•asmedigitalcollection.asme.org
In this paper a new topology of four degrees-of-freedom 3T1R fully-parallel manipulator is
presented, which is defined only using lower kinematic pairs. The paper starts with a
complete type synthesis of different topologies of fully-parallel manipulators that can perform
the so-called Schönflies motion, based on the Theory of Groups of Displacements. After
imposing some practical requirements, the different possibilities of manipulators are reduced
to only one topology of fully-parallel and fully-symmetrical parallel manipulator. Then, the …
presented, which is defined only using lower kinematic pairs. The paper starts with a
complete type synthesis of different topologies of fully-parallel manipulators that can perform
the so-called Schönflies motion, based on the Theory of Groups of Displacements. After
imposing some practical requirements, the different possibilities of manipulators are reduced
to only one topology of fully-parallel and fully-symmetrical parallel manipulator. Then, the …
In this paper a new topology of four degrees-of-freedom 3T1R fully-parallel manipulator is presented, which is defined only using lower kinematic pairs. The paper starts with a complete type synthesis of different topologies of fully-parallel manipulators that can perform the so-called Schönflies motion, based on the Theory of Groups of Displacements. After imposing some practical requirements, the different possibilities of manipulators are reduced to only one topology of fully-parallel and fully-symmetrical parallel manipulator. Then, the kinematic analysis of the manipulator is shown, including the closed-form resolution of both forward and inverse position problems, the velocity and the singularity analysis. Finally, a prototype of the manipulator is presented, which is intended to be used in pick and place applications.
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