Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base

Authors:
Benyamin Motevalli;Hassan Zohoor;Saeed Sohrabpour
Affiliations:
School of Mechanical Engineering, Sharif University of Technology (SUT), Iran;Center of Excellence in Design, Robotics & Automation, SUT, Iran;Center of Excellence in Design, Robotics & Automation, SUT, Iran
Venue:
Robotics and Autonomous Systems
Year:
2010

Citing 2
Cited 2

Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion

International Journal of Robotics Research
Type synthesis of 5-DOF parallel manipulators based on screw theory

Journal of Robotic Systems

Workspace analysis of 5-PRUR parallel mechanisms (3T2R)

Robotics and Computer-Integrated Manufacturing
Type synthesis of 2T1R-type parallel kinematic mechanisms and the application in manufacturing

Robotics and Computer-Integrated Manufacturing

Quantified Score

Hi-index	0.00

Visualization

Abstract

A method is presented to synthesize 5 degrees of freedom (DoFs) of 3 translational and 2 rotational (3T2R) parallel kinematic structures. This method is based on the theory of linear transformation and geometrical analysis. Central to this method is a set of novel 5 DoFs 3T2R parallel mechanisms (PMs). Based on the legs configuration, the generated mechanisms are classified. Moreover, the promising mechanisms of each class are introduced with respect to some criteria, i.e.: (a) degree of coupling between the actuators and degrees of freedom; (b) easy kinematics and control command; (c) easy construction (or low cost construction); and, (d) manufacturability. With reference to these criteria, some discussions are given on the promising mechanisms. Finally, to demonstrate the role of legs configuration in relation to the characteristics of a manipulator, the kinematic analysis of two of the introduced mechanisms is compared.