TY - GEN
T1 - A novel 3-DoF purely translational parallel mechanism
AU - Lou, Yunjiang
AU - Li, Zexiang
PY - 2006
Y1 - 2006
N2 - A novel 3-DoF purely translational parallel mechanism, the Orthotripod, is proposed. It is a variant of the tripod based parallel machine and has a similar architecture to the Orthoglide. In order to reduce number of passive joints and remove the effect of ease of abrasion of revolute joints, spherical joints are applied in the parallelogram. A mathematic mobility analysis shows the mechanism is indeed 3-DoF purely translational. We optimally design the Orthotripod and the tripod based parallel machine by maximizing the well-conditioned workspace. The optimized Orthotripod possesses a nearly ball-shaped workspace and has much better kinematic performance than the optimized tripod based parallel mechanism. The proposed mechanism is adaptable for machine tool applications.
AB - A novel 3-DoF purely translational parallel mechanism, the Orthotripod, is proposed. It is a variant of the tripod based parallel machine and has a similar architecture to the Orthoglide. In order to reduce number of passive joints and remove the effect of ease of abrasion of revolute joints, spherical joints are applied in the parallelogram. A mathematic mobility analysis shows the mechanism is indeed 3-DoF purely translational. We optimally design the Orthotripod and the tripod based parallel machine by maximizing the well-conditioned workspace. The optimized Orthotripod possesses a nearly ball-shaped workspace and has much better kinematic performance than the optimized tripod based parallel mechanism. The proposed mechanism is adaptable for machine tool applications.
KW - Machine tool
KW - Orthotripod
KW - Parallel manipulators
UR - https://www.webofscience.com/wos/woscc/full-record/WOS:000245452402045
UR - https://openalex.org/W1994603316
UR - https://www.scopus.com/pages/publications/34250639795
U2 - 10.1109/IROS.2006.282496
DO - 10.1109/IROS.2006.282496
M3 - Conference Paper published in a book
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2144
EP - 2149
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -