A novel 3-DoF purely translational parallel mechanism

被引：8
|
作者：
Lou, Yunjiang [1 ]
Li, Zexiang [1 ]
机构：
[1] Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Clear Water Bay, Kowloon, Hong Kong, Peoples R China
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
orthotripod; parallel manipulators; machine tool;
D O I：
10.1109/IROS.2006.282496
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel 3-DoF purely translational parallel mechanism, the Orthotripod, is proposed. It is a variant of the tripod based parallel machine and has a similar architecture to the Orthoglide. In order to reduce number of passive joints and remove the effect of ease of abrasion of revolute joints, spherical joints are applied in the parallelogram. A mathematic mobility analysis shows the mechanism is indeed 3-DoF purely translational. We optimally design the Orthotripod and the tripod based parallel machine by maximizing the well-conditioned workspace. The optimized Orthotripod possesses a nearly ball-shaped workspace and has much better kinematic performance than the optimized tripod based parallel mechanism. The proposed mechanism is adaptable for machine tool applications.
引用
收藏
页码：2144 / +
页数：2
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