This paper presents a new architecture of a three degree-of-freedom parallel manipulator that, if properly assembled, exhibits pure translational motion of the output link (platform) with respect to the frame (base). To prove the existence of a pure translational motion a mobility analysis of the manipulator has been carried out. Moreover, a singularity analysis has also been conducted that shows the occurrence of configurations of the manipulator where the pure translational feature is no longer controllable.
A translational 3-dof parallel manipulator
DI GREGORIO, Raffaele;
1998
Abstract
This paper presents a new architecture of a three degree-of-freedom parallel manipulator that, if properly assembled, exhibits pure translational motion of the output link (platform) with respect to the frame (base). To prove the existence of a pure translational motion a mobility analysis of the manipulator has been carried out. Moreover, a singularity analysis has also been conducted that shows the occurrence of configurations of the manipulator where the pure translational feature is no longer controllable.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
