This paper deals with the forward position analysis of a 3-DOF parallel mechanism module, which forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant. The TriVariant is a modified version of the Tricept robot, achieved by integrating one of the three active limbs into the passive one. The analytical method is employed to obtain the forward position solutions. It shows that the forward position analysis of the TriVariant is much simpler than that of the Tricept.
Issue Section:
Technical Brief
1.
Didrit
, O.
, Petitot
, M.
, Walter
, E.
, 1998, “Guaranteed Solution of Direct Kinematic Problems for General Configurations of Parallel Manipulator
,” IEEE Trans. Rob. Autom.
1042-296X, 14
(2
), pp. 259
–266
.2.
Dietmaier
, P.
, 1998, “The Stewart-Gough Platform of General Geometry can Have 40 Real Postures
,” Advances in Robot Kinematics: Analysis and Control
, J.
Lenarcic
and M. L.
Husty
, eds., Kluwer Academic
, Durdrecht, pp. 7
–16
.3.
Huang
, T.
, Wang
, J.
, Whitehouse
, D. J.
, 1999, “Closed Form Solution to Workspace of Hexapod-based Virtual Axis Machine Tools
,” ASME J. Mech. Des.
1050-0472, 121
(1
), pp. 26
–31
.4.
Gregorio
, R. D.
, 2004, “Forward Problem Singularities of Manipulators Which Become PS-2Rs or 2PS-RS Structures When the Actuators Locked
,” ASME J. Mech. Des.
1050-0472, 126
(4
), pp. 640
–645
.5.
Innocenti
C.
, Parenti-Castelli
, V.
, 1993, “Echelon Form Solution of Direct Kinematics for the General Fully-parallel Spherical Wrist
,” Mech. Mach. Theory
0094-114X, 28
(4
), pp. 553
–561
.6.
Innocenti
, C.
, 2001, “Forward Kinematics in Polynomial Form of the General Stewart Platform
,” ASME J. Mech. Des.
1050-0472, 123
(2
), pp. 254
–260
.7.
Liu
C. H.
, Cheng
, S.
, 2004, “Direct Singular Positions of 3RPS Parallel Manipulators
,” ASME J. Mech. Des.
1050-0472, 126
(6
), pp. 1006
–1016
.8.
Ku
, D. M.
, 1999, “Direct Displacement Analysis of a Stewart Platform Mechanism
,” Mech. Mach. Theory
0094-114X, 34
(3
), pp. 453
–465
.9.
Huang
, T.
, Li
, M.
, Li
, Z. X.
, et al., 2003, “A 5-DOF Hybrid Robot with Asymmetrical Architecture
,” PCT Application No. PCT/CN2004/00479.10.
Neumann
, K. -E.
, 1988, “Robot
,” U.S. Patent No. 4 732 525.11.
Available on line at http://www.pkmtricept.comhttp://www.pkmtricept.com
12.
Joshi
, S. A.
, Tsai
, L. W.
, 2003, “The Kinematics of a Class of 3-dof, 4-legged Parallel Manipulators
,” ASME J. Mech. Des.
1050-0472, 125
(1
), pp. 52
–60
.13.
Huang
, T.
, Li
, M.
, Zhao
, X. M.
, et al., 2004, “Conceptual Design and Dimensional Synthesis of 3-DOF Module of the TriVariant–A Novel 5-DOF Reconfigurable Hybrid Robot
,” IEEE Trans. Rob. Autom.
1042-296X, 21
(3
), pp. 449
–456
.Copyright © 2006
by American Society of Mechanical Engineers
You do not currently have access to this content.
