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A novel three degrees of freedom partially decoupled robot with linear actuators

Published online by Cambridge University Press:  21 July 2011

Jaime Gallardo-Alvarado ,
Gürsel Alici  and
Ramón Rodríguez-Castro
Jaime Gallardo-Alvarado*
Affiliation:
Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México
Gürsel Alici
Affiliation:
School of Mechanical, Materials, and Mechatronic Engineering, University of Wollongong, 2522 NSW, Australia
Ramón Rodríguez-Castro
Affiliation:
Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México
*
*Corresponding author. E-mail: gjaime@itc.mx
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Summary

In this work, a new translational robot formed with two different parallel manipulators with a common control point is introduced. An asymmetric parallel manipulator provides three translational degrees of freedom to the proposed robot while the orientation of the end-effector platform is kept constant by means of a Delta-like manipulator. An exact solution is easily derived to solve the forward displacement analysis while a semi-closed form solution is available for solving the inverse displacement analysis. The infinitesimal kinematics of the robot is approached by applying the theory of screws. Finally, a numerical example that consists of solving the inverse/forward displacement analysis as well as the forward acceleration analysis of the end-effector platform is presented. The example also includes the computation of the workspace and the direct/inverse singularities of the example.

Keywords

DesignParallel manipulatorsSpace roboticsNovel applications of roboticsDecoupled
Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 467 - 475
Copyright
Copyright © Cambridge University Press 2011

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