Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (Mechanical Engineering Series)
Kinematic performance analysis on a new spatial rotation 3-DOFs parallel robot mechanism
IITA'09 Proceedings of the 3rd international conference on Intelligent information technology application
Study on stiffness modeling and performance of spatial rotation 4-SPS-S parallel robot mechanism
IITA'09 Proceedings of the 3rd international conference on Intelligent information technology application
Six-DOF micro-manipulator based on compliant parallel mechanism with integrated force sensor
Robotics and Computer-Integrated Manufacturing
Portable multi-axis CNC: a 3-CRU decoupled parallel robotic manipulator
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Robotics and Computer-Integrated Manufacturing
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This paper proposes an innovative design for a parallel manipulator that can be applied to a machine tool. The proposed parallel manipulator has three degrees of freedom (DOFs), including the rotations of a moving platform about the x and y axes and a translation of this platform along the z-axis. A passive link is introduced into this new parallel manipulator in order to increase the stiffness of the system and eliminate any unexpected motion. Both direct and inverse kinematic problems are investigated, and a dynamic model using a Newton-Euler approach is implemented. The global system stiffness of the proposed parallel manipulator, which considers the compliance of links and joints, is formulated and the kinetostatic analysis is conducted. Finally, a case study is presented to demonstrate the applications of the kinematic and dynamic models and to verify the concept of the new design.