A Family of 3-DOF Translational Parallel Manipulators
A Family of 3-DOF Translational Parallel Manipulators
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DOI：
10.1115/1.1563635
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发表时间：
2003-06
影响因子：
3.3
通讯作者：
M. Carricato;V. Parenti-Castelli
中科院分区：
文献类型：
--
作者：
M. Carricato;V. Parenti-Castelli
本文论述自由度少于六个的并联操作器，在那些不需要更高机动性的应用中，其使用可能被证明是有价值的。特别地，研究了一个仅含转动关节，或者最多含转动关节和平移关节的三自由度操作器家族。确定了足以使运动平台具有纯平移运动的设计和装配条件，并找到了满足所施加约束的两个子家族：一个在文献中已有记载，而另一个是原创的。新的结构不存在旋转奇异点，即平台获得旋转自由度的位形。提供了对平移奇异点的一种几何解释。
This article addresses parallel manipulators with fewer than six degrees of freedom, whose use may prove valuable in those applications in which a higher mobility is uncalled for. In particular, a family of 3-dof manipulators containing only revolute joints or at the most revolute and prismatic ones is studied. Design and assembly conditions sufficient to provide the travelling platform with a pure translational motion are determined and two sub-families that fulfill the imposed constraint are found: one is already known in the literature, while the other is original. The new architecture does not exhibit rotation singularities, i.e., configurations in which the platform gains rotational degrees of freedom. A geometric interpretation of the translation singularities is provided.