From the viewpoint of kinematics, a three-dof H-type pure translational parallel manipulator is presented for the development of automatic assembly devices and a regional structure of a six-dof hybrid parallel platform. First, we describe the structural properties of manipulator and analyze its kinematic mobility. A pure translational motion is verified to exist through the well-known D-H symbolic notations and the coordinate transformation technique. What follows are the forward and inverse kinematic analysis and their analytical closed-form solutions by the matrix algebra approach. For further confirmation of the derived equations, some numerical examples are also given. Moreover, with the help of the analytical displacement kinematics, we identify the volume of workspace. At last, taking account of the overall Jacobian matrix provides the condition number and the identification of singularity of configuration is explored based on the direct and inverse kinematics Jacobian matrix.
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ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 24–28, 2005
Long Beach, California, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4744-6
PROCEEDINGS PAPER
Kinematics of a H-Type Pure Translational Parallel Manipulator
Chung-Ching Lee,
Chung-Ching Lee
National Kaohsiung University of Applied Sciences, Taiwan, R.O.C.
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Jeng-Hong Chiu,
Jeng-Hong Chiu
National Kaohsiung University of Applied Sciences, Taiwan, R.O.C.
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Hung-Hui Wu
Hung-Hui Wu
National Kaohsiung University of Applied Sciences, Taiwan, R.O.C.
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Chung-Ching Lee
National Kaohsiung University of Applied Sciences, Taiwan, R.O.C.
Jeng-Hong Chiu
National Kaohsiung University of Applied Sciences, Taiwan, R.O.C.
Hung-Hui Wu
National Kaohsiung University of Applied Sciences, Taiwan, R.O.C.
Paper No:
DETC2005-84992, pp. 623-632; 10 pages
Published Online:
June 11, 2008
Citation
Lee, C, Chiu, J, & Wu, H. "Kinematics of a H-Type Pure Translational Parallel Manipulator." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B. Long Beach, California, USA. September 24–28, 2005. pp. 623-632. ASME. https://doi.org/10.1115/DETC2005-84992
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