Analytical Identification of Limb Structures for Translational Parallel Manipulators

Authors:
Yuefa Fang;Lung-Wen Tsai
Affiliations:
Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, 100044, People's Republic of China;Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521
Venue:
Journal of Robotic Systems
Year:
2004

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Type synthesis of 4-dof nonoverconstrained parallel mechanisms based on screw theory

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Abstract

A systematic analytical method, based on the theory of screws, is presented for identification of limb structures of general and over-constrained 3-degree-of-freedom (DOF) translational parallel manipulators. Given a system of wrenches of constraint, the corresponding reciprocal basis screws are determined. Then, the joint screws of a limb are obtained by a linear combination of these basis screws. Feasible limbs that can be used for construction of translational platforms are enumerated according to the type of constraint and the number of joints making up the limbs. © 2004 Wiley Periodicals, Inc.