Title :
Analysis of two 3-DOF parallel mechanisms with constrained Stewart Platform structure
Author :
Lee, Seok-Hee ; Kim, Whee-Kuk ; Yi, Byung-Ju ; Suh, Il-Hong
Author_Institution :
Dept. of Control & Instrum. Eng., Korea Univ., Seoul
Abstract :
Two 3-DOF parallel mechanisms, a translational mechanism and a spherical mechanism, are analyzed. Each of two mechanisms commonly possesses three UPS serial sub-chains, and an additional passive 3-DOF PPP-type serial sub-chain and a passive 3-DOF RRR-type serial sub-chain are incorporated for the translational device and the rotational device, respectively. Such additional passive serial sub-chains act as constraints to restrict the output motion of the mechanism either in a 3-DOF translational space or in a 3-DOF spherical space. The position solutions of the proposed mechanisms and their first-order kinematic models are derived. Then their workspaces and kinematic characteristics are examined via the kinematic isotropic index
Keywords :
manipulator kinematics; position control; 3DOF parallel mechanisms; RRR-type serial sub-chain; UPS serial sub-chains; constrained Stewart platform structure; first-order kinematic models; kinematic isotropic index; output motion restrictions; passive 3DOF PPP-type serial sub-chain; position solutions; spherical mechanism; translational mechanism; Actuators; Aerospace simulation; Analytical models; Closed-form solution; Communication system control; Information analysis; Instruments; Kinematics; Leg; Uninterruptible power systems;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642352
