The paper describes the architecture of a novel parallel kinematics machine that is characterized by motions of pure translation. It is shown that the Cartesian arrangement of the 3 limbs assures simple kinematic relations and an Isotropic workspace, without any rotation or translation singularity. Such good features should allow the design of parallel robots that are characterized by simple controllers and good performances, as an alternative to current mechanical schemes.
Kinematics of the 3-CPU parallel manipulator assembled for motions of pure translation / Callegari, Massimo; Palpacelli, MATTEO CLAUDIO; Scarponi, M.. - STAMPA. - (2005), pp. 4031-4036. [10.1109/ROBOT.2005.1570736]
Kinematics of the 3-CPU parallel manipulator assembled for motions of pure translation
CALLEGARI, Massimo;PALPACELLI, MATTEO CLAUDIO;
2005-01-01
Abstract
The paper describes the architecture of a novel parallel kinematics machine that is characterized by motions of pure translation. It is shown that the Cartesian arrangement of the 3 limbs assures simple kinematic relations and an Isotropic workspace, without any rotation or translation singularity. Such good features should allow the design of parallel robots that are characterized by simple controllers and good performances, as an alternative to current mechanical schemes.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
