Qi Zou,∗ Dan Zhang,∗ Shuo Zhang,∗ Xueling Luo,∗ and Guanyu Huang∗∗
Translational parallel manipulator, singularity analysis, operational workspace, performance evaluation
Parallel manipulators with pure translations generally have simple structures and demonstrate good kinematic and dynamic perfor- mances. There are also various isotropic parallel mechanisms with identical chains. Moreover, modular design can provide convenience in fast assembly and exchange among different systems. In this paper, a class of special modular joints are presented. A family of pure-translation parallel mechanisms containing such modular parts and prismatic joints are obtained by the mapping relation with matrices. The specific spatial mechanism among this family has simple kinematic solutions based on closed-loop equations. Then its singularity configurations are derived, and several workspaces are obtained under different linkage dimensions. At last, the manipu- lability measure is formulated, and effects originated from different variables are comprehensively implemented, which provides strong references for future applications.
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