In a previous paper, a family of decoupled parallel manipulators (DPMs) has been identified which generate S-RSUS structures when the actuators are locked. The DPMs of this family refer to sixty-three different architectures with only three limbs and the actuators on or near to the base. This actuator arrangement makes them able to provide the same dynamic performances as fully-parallel manipulators, which have six limbs and a cumbersome coupled kinematics. The position analysis of all these DPMs has been already solved in analytical form. Here, their instantaneous kinematics and singularity analysis are addressed.

Decoupled Parallel Manipulators Generating S-RS-US Structures: Instantaneous Kinematics and Singularity Analysis

DI GREGORIO, Raffaele
2015

Abstract

In a previous paper, a family of decoupled parallel manipulators (DPMs) has been identified which generate S-RSUS structures when the actuators are locked. The DPMs of this family refer to sixty-three different architectures with only three limbs and the actuators on or near to the base. This actuator arrangement makes them able to provide the same dynamic performances as fully-parallel manipulators, which have six limbs and a cumbersome coupled kinematics. The position analysis of all these DPMs has been already solved in analytical form. Here, their instantaneous kinematics and singularity analysis are addressed.
2015
978-986-04-6098-8
Decoupled parallel manipulators, kinetostatics, instantaneous kinematics, singularity analysis
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11392/2337918
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
  • ???jsp.display-item.citation.isi??? ND
social impact