A method is proposed for the type synthesis of 3-DOF (degree-of-freedom) translational parallel manipulators (TPMs) based on screw theory. The wrench systems of a translational parallel kinematic chain (TPKC) and its legs are first analyzed. A general procedure is then proposed for the type synthesis of TPMs. The type synthesis of legs for TPKCs, the type synthesis of TPKCs as well as the selection of actuated joints of TPMs are dealt with in sequence. An approach to derive the full-cycle mobility conditions for legs for TPKCs is proposed based on screw theory and the displacement analysis of serial kinematic chains undergoing small joint motions. In addition to the TPKCs proposed in the literature, TPKCs with inactive joints are synthesized. The phenomenon of dependent joint groups in a TPKC is revealed systematically. The validity condition of actuated joints of TPMs is also proposed. Finally, linear TPMs, which are TPMs whose forward displacement analysis can be performed by solving a set of linear equations, are also revealed.
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e-mail: xwkong@gmc.ulaval.ca
e-mail: gosselin@gmc.ulaval.ca
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January 2004
Technical Papers
Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory
Xianwen Kong,
e-mail: xwkong@gmc.ulaval.ca
Xianwen Kong
De´partement de Ge´nie Me´canique, Universite´ Laval Que´bec, Que´bec, G1K 7P4, Canada
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Cle´ment M. Gosselin
e-mail: gosselin@gmc.ulaval.ca
Cle´ment M. Gosselin
De´partement de Ge´nie Me´canique, Universite´ Laval Que´bec, Que´bec, G1K 7P4, Canada
**
Search for other works by this author on:
Xianwen Kong
De´partement de Ge´nie Me´canique, Universite´ Laval Que´bec, Que´bec, G1K 7P4, Canada
e-mail: xwkong@gmc.ulaval.ca
Cle´ment M. Gosselin
**
De´partement de Ge´nie Me´canique, Universite´ Laval Que´bec, Que´bec, G1K 7P4, Canada
e-mail: gosselin@gmc.ulaval.ca
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received November 2001. Associate Editor: G. S. Chirikjian.
J. Mech. Des. Jan 2004, 126(1): 83-92 (10 pages)
Published Online: March 11, 2004
Article history
Received:
November 1, 2001
Online:
March 11, 2004
Citation
Kong, X., and Gosselin, C. M. (March 11, 2004). "Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory ." ASME. J. Mech. Des. January 2004; 126(1): 83–92. https://doi.org/10.1115/1.1637662
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