Parallel Robots
A Geometric Theory for Analysis and Synthesis of Sub-6 DoF Parallel Manipulators
IEEE Transactions on Robotics
1T2R parallel mechanisms without parasitic motion
IEEE Transactions on Robotics
| Hi-index | 0.00 |
One important category of parallel mechanisms is the translational parallel mechanism (TPM). This paper focuses on the structural shakiness of the nonoverconstrained TPM. Such a structural shakiness is due to the unavoidable lack of rigidity of the real bodies, which leads to uncheckable orientation changes ofthe moving platform of a TPM. Using algebraic properties of displacement subsets and, especially, displacement Lie subgroup theory, we show that the structural shakiness of the nonoverconstrained TPM is inherently determined by the structural type of its limb chains. A structural shakiness index (SSI) for a nonoverconstrained TPM is introduced. When the set of feasible displacements of the end body of a 5-degree-of.freedom (DOFs) limb chain contains two infinities of parallel axes of rotation, we have SSI = 2; when the displacement set of the end body of a 5-DOF limb chain contains only one infinity of parallel axes of rotation, we have SSI = 1. It is proven that nonoverconstained TPMs constructed with limb chains with SSI = 1 are much less prone to orientation changes than those constructed with limb chains with SSI = 2. Based on the SSI, we enumerate limh kinematic chains and construct 21 nonoverconstrained TPMs with less shakiness.