A new three-d.o.f. parallel mechanism, with 3-RPC topology, is presented in the paper and its kinematics is studied. The proposed architecture, if proper geometrical conditions are satisfied, has an overconstrained structure which allows motions of pure translation. The simple structure of the mechanism allows finding closed-form solutions for both inverse and direct position kinematics; the differential analysis has been developed as well, by deriving a symbolic expression for the Jacobian matrix. Then, some design considerations are exposed to keep the singular points out of the working space of the mechanism and all the isotropic configurations are eventually identified.
Kinematic Analysis of a Novel Translational Platform / Callegari, Massimo; Tarantini, M.. - In: JOURNAL OF MECHANICAL DESIGN. - ISSN 1050-0472. - STAMPA. - 125:2(2003), pp. 308-315. [10.1115/1.1563637]
Kinematic Analysis of a Novel Translational Platform
CALLEGARI, Massimo;
2003-01-01
Abstract
A new three-d.o.f. parallel mechanism, with 3-RPC topology, is presented in the paper and its kinematics is studied. The proposed architecture, if proper geometrical conditions are satisfied, has an overconstrained structure which allows motions of pure translation. The simple structure of the mechanism allows finding closed-form solutions for both inverse and direct position kinematics; the differential analysis has been developed as well, by deriving a symbolic expression for the Jacobian matrix. Then, some design considerations are exposed to keep the singular points out of the working space of the mechanism and all the isotropic configurations are eventually identified.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
