A new class of parallel mechanisms is presented in the paper, based on the 3-RCC architecture or its 3-CCR kinematic inversion: under specific geometric conditions, such mechanisms are able to translate in space without rotating and therefore they are potentially interesting for the development of parallel kinematic machines. Then, some mechanisms of such family are described and their direct and inverse kinematics is solved in closed form. Actually, one of them had been studied already and the prototype of a parallel robot has been designed based on such concept, showing many good features and a couple of weak points: a bulky translating platform and rather poor dynamic performances in the outer regions of the workspace. Therefore, the other concepts hereby presented have been conceived aiming at overcoming the mentioned drawbacks: a comparison of the optimised mechanisms is currently being carried on.
Kinematics of a family of parallel translating mechanisms / Callegari, Massimo; Marzetti, P.. - ELETTRONICO. - (2003). (Intervento presentato al convegno RAAD’03, 12th International Workshop on Robotics in Alpe-Adria-Danube Region tenutosi a Cassino (I) nel May 7-10, 2003).
Kinematics of a family of parallel translating mechanisms
CALLEGARI, Massimo;
2003-01-01
Abstract
A new class of parallel mechanisms is presented in the paper, based on the 3-RCC architecture or its 3-CCR kinematic inversion: under specific geometric conditions, such mechanisms are able to translate in space without rotating and therefore they are potentially interesting for the development of parallel kinematic machines. Then, some mechanisms of such family are described and their direct and inverse kinematics is solved in closed form. Actually, one of them had been studied already and the prototype of a parallel robot has been designed based on such concept, showing many good features and a couple of weak points: a bulky translating platform and rather poor dynamic performances in the outer regions of the workspace. Therefore, the other concepts hereby presented have been conceived aiming at overcoming the mentioned drawbacks: a comparison of the optimised mechanisms is currently being carried on.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
