Kinematic analysis of a novel 3-CRU translational parallel mechanism
In this paper, a modified 3-DOF (degrees of freedom) translational parallel mechanism (TPM) three-CRU (C, R, and U represent the cylindrical, revolute, and universal joints, respectively) structure is proposed. The architecture of the TPM is comprised of a moving platform attached to a base through...
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doaj-6bfef5bf48ff4828b7cda283a35b16cb2020-11-24T23:31:36ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2015-04-0161576410.5194/ms-6-57-2015Kinematic analysis of a novel 3-CRU translational parallel mechanismB. Li0Y. M. Li1X. H. Zhao2W. M. Ge3Faculty of Science and Technology, University of Macau, Taipa, Macau, ChinaFaculty of Science and Technology, University of Macau, Taipa, Macau, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, ChinaTianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, ChinaIn this paper, a modified 3-DOF (degrees of freedom) translational parallel mechanism (TPM) three-CRU (C, R, and U represent the cylindrical, revolute, and universal joints, respectively) structure is proposed. The architecture of the TPM is comprised of a moving platform attached to a base through three CRU jointed serial linkages. The prismatic motions of the cylindrical joints are considered to be actively actuated. Kinematics and performance of the TPM are studied systematically. Firstly, the structural characteristics of the mechanism are described, and then some comparisons are made with the existing 3-CRU parallel mechanisms. Although these two 3-CRU parallel mechanisms are both composed of the same CRU limbs, the types of freedoms are completely different due to the different arrangements of limbs. The DOFs of this TPM are analyzed by means of screw theory. Secondly, both the inverse and forward displacements are derived in closed form, and then these two problems are calculated directly in explicit form. Thereafter, the Jacobian matrix of the mechanism is derived, the performances of the mechanism are evaluated based on the conditioning index, and the performance of a 3-CRU TPM changing with the actuator layout angle is investigated. Thirdly, the workspace of the mechanism is obtained based on the forward position analysis, and the reachable workspace volume is derived when the actuator layout angle is changed. Finally, some conclusions are given and the potential applications of the mechanism are pointed out.http://www.mech-sci.net/6/57/2015/ms-6-57-2015.pdf |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
B. Li Y. M. Li X. H. Zhao W. M. Ge |
spellingShingle |
B. Li Y. M. Li X. H. Zhao W. M. Ge Kinematic analysis of a novel 3-CRU translational parallel mechanism Mechanical Sciences |
author_facet |
B. Li Y. M. Li X. H. Zhao W. M. Ge |
author_sort |
B. Li |
title |
Kinematic analysis of a novel 3-CRU translational parallel mechanism |
title_short |
Kinematic analysis of a novel 3-CRU translational parallel mechanism |
title_full |
Kinematic analysis of a novel 3-CRU translational parallel mechanism |
title_fullStr |
Kinematic analysis of a novel 3-CRU translational parallel mechanism |
title_full_unstemmed |
Kinematic analysis of a novel 3-CRU translational parallel mechanism |
title_sort |
kinematic analysis of a novel 3-cru translational parallel mechanism |
publisher |
Copernicus Publications |
series |
Mechanical Sciences |
issn |
2191-9151 2191-916X |
publishDate |
2015-04-01 |
description |
In this paper, a modified 3-DOF (degrees of freedom) translational
parallel mechanism (TPM) three-CRU (C, R, and U represent the cylindrical,
revolute, and universal joints, respectively) structure is proposed. The
architecture of the TPM is comprised of a moving platform attached to a base
through three CRU jointed serial linkages. The
prismatic motions of the cylindrical joints are considered to be actively
actuated. Kinematics and performance of the TPM are studied systematically.
Firstly, the structural characteristics of the mechanism are described, and
then some comparisons are made with the existing 3-CRU parallel mechanisms.
Although these two 3-CRU parallel mechanisms are both composed of the same
CRU limbs, the types of freedoms are completely different due to the
different arrangements of limbs. The DOFs of this TPM are analyzed by means of
screw theory. Secondly, both the inverse and forward displacements are
derived in closed form, and then these two problems are calculated directly
in explicit form. Thereafter, the Jacobian matrix of the mechanism is
derived, the performances of the mechanism are evaluated based on the
conditioning index, and the performance of a 3-CRU TPM changing with the
actuator layout angle is investigated. Thirdly, the workspace of the
mechanism is obtained based on the forward position analysis, and the
reachable workspace volume is derived when the actuator layout angle is
changed. Finally, some conclusions are given and the potential applications
of the mechanism are pointed out. |
url |
http://www.mech-sci.net/6/57/2015/ms-6-57-2015.pdf |
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