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Kinematics of a 3-DOF Translational Parallel Mechanism With 3-PRPaR Topology

[+] Author Affiliations
Chung-Ching Lee, Jeng-Hong Chou

National Kaohsiung University of Applied Sciences, Taiwan, R. O. C.

Paper No. DETC2004-57193, pp. 561-570; 10 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


From the standpoint of kinematics, we present a type of three-dof pure spatial translational parallel mechanism with 3-PRPaR topology as an alternative to design automation devices and a regional structure of a six-dof hybrid parallel platform. First, we describe the structural properties of mechanism and analyze its kinematic mobility. It is verified that a pure translational motion does exist through the coordinate transformation technique and the well-known D-H parametric notations. Then, we proceed with the forward and inverse kinematic analysis and derive their analytical closed-form solutions by the matrix algebra method. For the confirmation of the derived equations, some numerical examples are also taken. Furthermore, with the help of the forward kinematics, we derive the workspace in the analytical form. Finally, taking account of the overall Jacobian matrix provides the condition number and the identification of singular configuration is explored based on direct and inverse kinematics Jacobian matrix.

Copyright © 2004 by ASME



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