This paper introduces a new kinematic architecture called the hybrid kinematic machine. A hybrid kinematic machine typically consists of a position mechanism and an orientation mechanism that can be arranged in series or in parallel to achieve the notion of modular and reconfigurable machining centers. To demonstrate the concept, four parallel manipulators with translational motion characteristics have been identified. The kinematics of these mechanisms are described. Then, the well-conditioned workspace of each mechanism is maximized, and the stiffness properties are mapped. A comparison of the workspace volume and stiffness properties of these four mechanisms indicates that the 3-RUU manipulator appears to be the best design among the four architectures.
Issue Section:
Technical Papers
1.
Giddings and Lewis, 1995, Giddings and Lewis Automation Technology, Fond du Lac, WI.
2.
Aronson, R. B., 1996, “A Bright Horizon for Machine Tool Technology,” Manuf. Eng., pp. 57–70.
3.
Shibukawa
, T.
, Toyama
, T.
, and Hattori
, K.
, 1997
, “Parallel Mechanism Based Milling Machine
,” Journal of JSPE
, 63
(12
), pp. 1671
1671
.4.
Clavel, R., 1988, “A Fast Robot with Parallel Geometry,” 18th International Symposium on Industrial Robots, Sydney, Australia, pp. 91–100.
5.
Tsai, L. W., 1995, “Multi-Degree-of-Freedom Mechanisms for Machine Tools and the Like,” U.S. Patent, No. 5,656,905, 1997.
6.
Tsai, L. W., Walsh, G. C., and Stamper, R., 1996, “Kinematics of a Novel Three DOF Translational Platform,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 3446–3451.
7.
Stamper, R. E., Tsai, L. W., and Walsh, G. C., 1997, “Optimization of a Three DOF Translational Platform for Well-Conditioned Workspace,” Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, pp. 3250–3255.
8.
Tsai, L. W., 1996, “Kinematics of a Three-DOF Platform with Three Extensible Limbs,” in Recent Advances in Robot Kinematics, edited by J. Lenarcic and V. Parenti-Castelli, Kluwer Academic Publishers, pp. 401–410.
9.
Tsai
, L. W.
, and Joshi
, S. A.
, 2000
, “Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator
,” ASME J. Mech. Des.
, 122
(4
), pp. 439
–446
.10.
Di Gregori, R., and Parenti-Castelli, V., 1999, “Mobility Analysis of the 3-UPU Parallel Mechanism Assembled for Pure Translation,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, pp.520–525.
11.
Siciliano
, B.
, 1999
, “The Tricept Robot: Inverse Kinematics, Manipulability Analysis and Closed-Loop Direct Kinematics Algorithm
,” Robotica
, 17
, pp. 437
–445
.12.
Gosselin
, C.
, and Angeles
, J.
, 1989
, “The Optimum Kinematic Design of a Spherical Three-Degree-of-Freedom Parallel Manipulator
,” ASME J. Mech. Des.
, 111
, pp. 437
–445
.13.
Gosselin, C., and Hamel, J., 1994, “The Agile Eye: A High-Performance Three-Degree-of-Freedom Camera-Orienting Device,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, pp. 781–786.
14.
Di Gregori, R., and Parenti-Castelli, V., 1998, “A Translational 3-DOF Parallel Manipulator,” in Advances in Robot Kinematics: Analysis and Control, edited by J. Lenarcic and M. L. Husty, Kluwer Academic Publishers, pp. 49–58.
15.
Herve´, J. M., 1995, “Design of Parallel Manipulators Via the Displacement Group,” 9th World Congress on the Theory of Machines and Mechanisms, Milan, Aug. 30–Sept. 2, pp. 2079–2082.
16.
Di Gregori, R., 2001, “Statics and Singularity Loci of the 3-UPU Wrist,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, Italy, Vol. 1, pp. 470–475.
17.
Tsai, L. W., 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, New York, NY.
18.
Karger, A., and Husty, M., 1996, “On Self-Motions of a Class of Parallel Manipulators,” J. Lenarcic and V. Parenti-Castelli (eds.), Kluwer Academic Publishers, pp. 339–348.
19.
Parenti-Castelli
, V.
, Di Gregori
, R.
, and Bubani
, F.
, 2000
, “Workspace and Optimal Design of a Pure Translation Parallel Manipulator
,” Meccanica
, 35
, pp. 203
–214
.20.
Bhattacharya
, S.
, Hatwal
, H.
, and Ghosh
, A.
, 1995
, “On the Optimum Design of Stewart Platform Type Parallel Manipulators
,” Robotica
, 13
, pp. 133
–140
.Copyright © 2002
by ASME
You do not currently have access to this content.
