Skip to Main content Skip to Navigation
Conference papers

Topological design of an asymmetric 3-translational parallel mechanism with zero coupling degree and motion decoupling

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.
Complete list of metadatas

Cited literature [19 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01796776
Contributor : Damien Chablat <>
Submitted on : Tuesday, May 22, 2018 - 3:56:07 AM
Last modification on : Thursday, February 27, 2020 - 1:05:47 AM
Document(s) archivé(s) le : Monday, September 24, 2018 - 8:51:18 PM

Files

DETC2018-85709_2018_05_06_HAL....
Files produced by the author(s)

Identifiers

Citation

Huiping Shen, Chengqi Wu, Damien Chablat, Guang Wu, Ting-Li Yang. Topological design of an asymmetric 3-translational parallel mechanism with zero coupling degree and motion decoupling. Proceedings of the International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2018, Québec, Canada. pp.V05AT07A038, ⟨10.1115/DETC2018-85709⟩. ⟨hal-01796776⟩

Share

Metrics

Record views

221

Files downloads

189