TY - GEN
T1 - Kinematic Analysis of a New 3T1R Parallel Manipulator
AU - Lin, Shi Ta
AU - Tsai, Meng Yun
AU - Lan, Chao Chieh
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.
PY - 2023
Y1 - 2023
N2 - Parallel manipulators are known to have higher structural rigidity and end-effector speed than serial manipulators. However, the size, payload, rigidity, and repeatability of parallel manipulators highly depend on the types of active and passive joints used. Compared with other joint types, revolute joints are structurally simpler and have an unlimited rotation range. They can be easily preloaded to increase the stiffness and eliminate clearance. Hence, revolute joints are preferable for parallel manipulators that need to have a smaller size, larger payload, and higher reparability. This paper presents a new parallel manipulator that uses only revolute joints as the active and passive joints. This parallel manipulator can generate three translational motions and one rotational motion. The kinematic analysis is provided to facilitate the design of the new parallel manipulator. We expect that the proposed parallel manipulator can provide an alternative for selecting parallel manipulators to meet different industrial applications.
AB - Parallel manipulators are known to have higher structural rigidity and end-effector speed than serial manipulators. However, the size, payload, rigidity, and repeatability of parallel manipulators highly depend on the types of active and passive joints used. Compared with other joint types, revolute joints are structurally simpler and have an unlimited rotation range. They can be easily preloaded to increase the stiffness and eliminate clearance. Hence, revolute joints are preferable for parallel manipulators that need to have a smaller size, larger payload, and higher reparability. This paper presents a new parallel manipulator that uses only revolute joints as the active and passive joints. This parallel manipulator can generate three translational motions and one rotational motion. The kinematic analysis is provided to facilitate the design of the new parallel manipulator. We expect that the proposed parallel manipulator can provide an alternative for selecting parallel manipulators to meet different industrial applications.
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U2 - 10.1007/978-3-031-45705-0_64
DO - 10.1007/978-3-031-45705-0_64
M3 - Conference contribution
AN - SCOPUS:85177039127
SN - 9783031457043
T3 - Mechanisms and Machine Science
SP - 662
EP - 672
BT - Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1
A2 - Okada, Masafumi
PB - Springer Science and Business Media B.V.
T2 - 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Y2 - 5 November 2023 through 9 November 2023
ER -