Eclipse II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions

Author

Kim, Jongwon ; Hwang, Jae Chul ; Kim, Jin Sung ; Iurascu, Cornel C. ; Park, Frank Chongwoo ; Cho, Young Man

Author_Institution

Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., South Korea

Volume

18

Issue

3

fYear

2002

fDate

6/1/2002 12:00:00 AM

Firstpage

367

Lastpage

373

Abstract

This paper presents the Eclipse II, a new six-degrees-of-freedom parallel mechanism, which can be used as a basis for general motion simulators. The Eclipse II is capable of x, y, and z axes translations, and a, b, and c axes rotations. In particular, it has the advantage of enabling continuous 360° spinning of the platform. We first describe the computational procedures for the forward and inverse kinematics of the Eclipse II. Next, the complete singularity analysis is presented for the two cases of end-effector singularity and actuator singularity. Finally, two additional actuators are added to the original mechanism to eliminate both types of singularity within the workspace

Keywords

manipulator kinematics; motion control; Eclipse II; forward kinematics; inverse kinematics; motion simulator; parallel mechanism; singularity; spinning; translational motions; workspace analysis; Actuators; Automatic control; Control systems; Coupled mode analysis; Discrete event systems; Flexible manufacturing systems; Petri nets; Spinning; Stochastic processes; Virtual manufacturing;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/TRA.2002.1019472

Filename

1019472