Fully-isotropic T3R2-type Parallel Robotic Manipulators

Author

Gogu, Grigore

Author_Institution

Mech. Eng. Res. Group, French Inst. of Adv. Mech., Clermont-Ferrand

fYear

2006

fDate

1-3 June 2006

Firstpage

1

Lastpage

6

Abstract

The paper presents a special family of fully-isotropic T3R2-type parallel robotic manipulators (PMs) with five degrees of freedom called Isoglide5-T3R2-D. The mobile platform has three independent translations (T3) and two rotations (R2). A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of fully-isotropic T3R2-type PMs presented in this paper is the 5times5 identity matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. A method is proposed for structural synthesis of fully-isotropic T3R2-type PMs based on the theory of linear transformations. As far as we are aware, the solutions of Isoglide5-T3R2-D family are presented for the first time in the literature

Keywords

Jacobian matrices; legged locomotion; manipulator kinematics; Isoglide5-T3R2-D; Jacobian matrix; degrees of freedom; fully-isotropic T3R2-type parallel robotic manipulators; linear transformation; manipulator kinematics; motion transmission; structural synthesis; Angular velocity; Fasteners; Jacobian matrices; Manipulator dynamics; Mechanical engineering; Orbital robotics; Parallel robots; Pneumatic actuators; Robot kinematics; Transmission line matrix methods; T3R2-type; five degrees of freedom; isotropic; parallel manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252637

Filename

4018753