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Topological Design of an Asymmetric 3-Translational Parallel Mechanism With Zero Coupling Degree and Motion Decoupling

[+] Author Affiliations
Huiping Shen, Chengqi Wu, Ting-li Yang

Changzhou University, Changzhou, China

Damien Chablat

CNRS, Nantes, France

Guanglei Wu

Dalian University of Technology, Dalian, China

Paper No. DETC2018-85709, pp. V05AT07A038; 7 pages
doi:10.1115/DETC2018-85709
From:
  • ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 42nd Mechanisms and Robotics Conference
  • Quebec City, Quebec, Canada, August 26–29, 2018
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5180-7
  • Copyright © 2018 by ASME

abstract

In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on position and orientation characteristics (POC) equations. The main topological characteristics such as POC, degree of freedom and coupling degree are calculated. Then, the analytical formula for the direct and inverse kinematic are directly derived since coupling degree of the PM is zero. The study of singular configurations is simple because of the independence of the kinematic chains.

Copyright © 2018 by ASME

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