The 3-UPU three degrees of freedom fully parallel manipulator, where U and P are for universal and prismatic pair respectively, is a very well known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation according to the relative directions of the revolute axes. Many studies have been reported in the literature on singularities, workspace and joint clearance influence on the platform accuracy of this manipulator. However, much work has still to be done to reveal all the features this topology can offer to the designer. This paper collects the previous most relevant work done on the 3-UPU parallel manipulator and shows the main results in a coherent general frame. The paper proposes new architectures of the 3-UPU manipulator which offer interesting features to the designer. Finally, based on a number of indexes, a procedure is proposed that allows the designer to select the best architecture of the 3-UPU manipulator for a given task.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Potential of the 3-UPU Translational Parallel Manipulator
Ahmed Hachem Chebbi,
Ahmed Hachem Chebbi
University of Bologna, Bologna, Italy
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Vincenzo Parenti-Castelli
Vincenzo Parenti-Castelli
University of Bologna, Bologna, Italy
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Ahmed Hachem Chebbi
University of Bologna, Bologna, Italy
Vincenzo Parenti-Castelli
University of Bologna, Bologna, Italy
Paper No:
DETC2010-28502, pp. 1089-1099; 11 pages
Published Online:
March 8, 2011
Citation
Chebbi, AH, & Parenti-Castelli, V. "Potential of the 3-UPU Translational Parallel Manipulator." Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B. Montreal, Quebec, Canada. August 15–18, 2010. pp. 1089-1099. ASME. https://doi.org/10.1115/DETC2010-28502
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