Qi Zou,∗ Dan Zhang,∗ Shuo Zhang,∗ Xueling Luo,∗ and Guanyu Huang∗∗
Translational parallel manipulator, singularity analysis, operational workspace, performance evaluation
Parallel manipulators with pure translations generally have simplestructures and demonstrate good kinematic and dynamic perfor-mances. There are also various isotropic parallel mechanisms withidentical chains. Moreover, modular design can provide conveniencein fast assembly and exchange among different systems. In thispaper, a class of special modular joints are presented. A family ofpure-translation parallel mechanisms containing such modular partsand prismatic joints are obtained by the mapping relation withmatrices. The specific spatial mechanism among this family hassimple kinematic solutions based on closed-loop equations. Then itssingularity configurations are derived, and several workspaces areobtained under different linkage dimensions. At last, the manipu-lability measure is formulated, and effects originated from differentvariables are comprehensively implemented, which provides strongreferences for future applications.
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