This paper presents a new synthesis procedure of fully parallel manipulators (PMs) of three degrees of freedom (DOFs) that could be implemented in a computer-aided synthesis process. Possible designs of PMs are represented by a set of unit joint twists at an initial configuration, called here topological and geometric parameters (TGPs). This makes it possible to represent PMs of all topologies and geometries in an easy and consistent way. The kinematic bond between the end effector (EE) and the base is then formulated as a set of equations involving TGPs, actuated-joint variables, and non-actuated-joint variables (passive joints). To achieve the required type of EE motion, possible topologies are first derived from tangent space analysis, and then the feasible topologies are retained by further displacement analysis. The geometries are determined such that the set of equations should be isoconstrained when passive-joint variables are taken as unknowns. The synthesis procedure of 3DOF PMs is illustrated with three numerical examples: one producing a new architecture of one translation and two rotations, while the other two producing existing architectures of translational PMs.
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e-mail: xiaoyu.wang@polymtl.ca
e-mail: luc.baron@polymtl.ca
e-mail: guy.cloutier@polymtl.ca
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March 2008
Research Papers
Topological and Geometrical Synthesis of Three-Degree-of-Freedom Fully Parallel Manipulators by Instantaneous Kinematics
Xiaoyu Wang,
Xiaoyu Wang
Département de Genie Mécanique,
e-mail: xiaoyu.wang@polymtl.ca
Ecole Polytechnique de Montréal
, P.O. Box 6079, Station Centre-Ville, Montréal, QC, HSC SA 7, Canada
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Luc Baron,
Luc Baron
Département de Genie Mécanique,
e-mail: luc.baron@polymtl.ca
Ecole Polytechnique de Montréal
, P.O. Box 6079, Station Centre-Ville, Montréal, QC, HSC SA 7, Canada
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Guy Cloutier
Guy Cloutier
Département de Genie Mécanique,
e-mail: guy.cloutier@polymtl.ca
Ecole Polytechnique de Montréal
, P.O. Box 6079, Station Centre-Ville, Montréal, QC, HSC SA 7, Canada
Search for other works by this author on:
Xiaoyu Wang
Département de Genie Mécanique,
Ecole Polytechnique de Montréal
, P.O. Box 6079, Station Centre-Ville, Montréal, QC, HSC SA 7, Canadae-mail: xiaoyu.wang@polymtl.ca
Luc Baron
Département de Genie Mécanique,
Ecole Polytechnique de Montréal
, P.O. Box 6079, Station Centre-Ville, Montréal, QC, HSC SA 7, Canadae-mail: luc.baron@polymtl.ca
Guy Cloutier
Département de Genie Mécanique,
Ecole Polytechnique de Montréal
, P.O. Box 6079, Station Centre-Ville, Montréal, QC, HSC SA 7, Canadae-mail: guy.cloutier@polymtl.ca
J. Mech. Des. Mar 2008, 130(3): 032301 (8 pages)
Published Online: February 4, 2008
Article history
Received:
June 15, 2006
Revised:
May 1, 2007
Published:
February 4, 2008
Citation
Wang, X., Baron, L., and Cloutier, G. (February 4, 2008). "Topological and Geometrical Synthesis of Three-Degree-of-Freedom Fully Parallel Manipulators by Instantaneous Kinematics." ASME. J. Mech. Des. March 2008; 130(3): 032301. https://doi.org/10.1115/1.2829891
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