Volume 21 Issue 09 - Publication Date: 1 September 2002
Kinematics and Singularity Analysis of a Novel Type of 3-CRR 3-DOF Translational Parallel Manipulator
Xianwen Kong and Clément M. Gosselin Département de Génie Mécanique Université Laval Québec, Québec, Canada, G1K 7P4
A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3-CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) The forward displacement analysis can be performed by solving a set of linear equations. (2) The Jacobian matrix of the TPM is constant. The inverse of the Jacobian matrix can be pre-calculated, and there is no need to calculate repeatedly the inverse of the Jacobian matrix in performing the forward displacement analysis and forward velocity analysis. (3) There is no rotation singularity. (4) There is no uncertainty singularity. (5) The TPM has a fewer number of links or joints. The geometric condition for a 3-CRR TPM to be isotropic is also revealed. Two additional kinematic merits exist for the isotropic 3-CRR TPM. The first is that an isotropic 3-CRR TPM is isotropic in its whole workspace. The second is that no calculation is needed in order to pre-determine the inverse of the Jacobian matrix. Finally, preliminary design considerations are presented.
Multimedia Key
= Video = Data = Code = Image
Example 1 - Schematic description of the 3-CRR TPM
Example 2a - The isotropic 3-CRR TPM; CAD Model
Example 2b - The isotropic 3-CRR TPM; Plastic Model
Example 3 - The maximal workspace of the isotropic 3_CRR TPM
Example 4a - Some variations of the 3-CRR TPM; The 3-PRRR TPM
Example 4b - Some variations of the 3-CRR TPM; The 3-CRRR TPM
Example 5a - Some isotropic variations of the 3-CRR TPM; An isotropic 3-PRRR TPM
Example 5b - Some isotropic variations of the 3-CRR TPM; An isotropic 3-CRRR TPM
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