Novel design solution to high precision 3 axes translational parallel mechanism

被引：17
|
作者：
Bhutani, Gaurav [1 ]
Dwarakanath, T. A. [1 ]
机构：
[1] Bhabha Atom Res Ctr, Div Remote Handling & Robot, Bombay 400085, Maharashtra, India
来源：
MECHANISM AND MACHINE THEORY | 2014年 / 75卷
关键词：
3-DOF UPU mechanism; Modeling and design; Sensitivity analysis; Prototype development; KINEMATIC ANALYSIS;
D O I：
10.1016/j.mechmachtheory.2013.11.010
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The paper presents a 3 degree of freedom UPU mechanism having an excellent practical feasibility. The mathematical model and the design considerations of the 3-UPU mechanism are discussed. A detailed sensitivity analysis is carried out and the results are discussed in a new perspective. A novel design solution for a high precision three axis translation parallel mechanism is presented. We describe and validate the theoretical observations with the prototype model. The capability of the 3-UPU mechanism in performing fine motion manipulation, high precision trajectory following and metrological measurement is demonstrated. The performances of the 3-UPU mechanism concur with the theoretical observations in contrast to what is presented in previous works. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：118 / 130
页数：13
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