The paper aims to analyze the equivalent kinematic chains of a family of three-degree-of-freedom (3-DOF) tripod mechanisms with planar-spherical bonds in order to determine the platform motions generated by the mechanisms, and then to develop a prototype of a 3-DOF 3-RPS type parallel mechanism, which can be used as a wrist robotic device. After a short introduction to mechanical generators of Lie subgroups of displacement, the mobility formula of a general 3-DOF tripod mechanism based on the modified Gru¨ebler’s criterion is given. Using displacement group theory theorems, the analyzed closed-loop system becomes finally equivalent to three contacts between a rigid assembly of three moving spheres onto three fixed planes. As an application of the above method, a prototype mechanism is designed and fabricated based on the kinematics analysis, the force capability and the simplicity.
Equivalent Kinematic Chains of Three Degree-of-Freedom Tripod Mechanisms With Planar-Spherical Bonds
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received March 19, 2003; revised May 10, 2004. Associate Editor: C. Mavroidis.
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Huynh, P., and Herve´, J. M. (March 2, 2005). "Equivalent Kinematic Chains of Three Degree-of-Freedom Tripod Mechanisms With Planar-Spherical Bonds ." ASME. J. Mech. Des. January 2005; 127(1): 95–102. https://doi.org/10.1115/1.1825439
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