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Kinematic analysis of a fully decoupled translational parallel manipulator

Published online by Cambridge University Press:  27 February 2009

M. Ruggiu
M. Ruggiu*
Affiliation:
Department of Mechanical Engineering, University of Cagliari, Piazza d'Armi – 09123 Cagliari, Italy
*
*Corresponding author. E-mail: ruggiu@dimeca.unica.it
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Summary

The paper describes the kinematic analysis of a new translational parallel manipulator (TPM). The manipulator consists of a fixed base, with a moving platform connected to the base by three identical legs with PUPR chains. The axes of the actuated motions are orthogonal. This configuration provides a very simplified kinematic analysis with fully decoupled input–output linear equations, absence of translational singularities, isotropy and ease of determining the workspace for the moving platform.

Keywords

Parallel mechanismTranslational parallel manipulatorSingularitiesWorkspace
Type
Article
Information
Robotica , Volume 27 , Issue 7 , December 2009 , pp. 961 - 969
Copyright
Copyright © Cambridge University Press 2009

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