Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
The Infinitesimal Burmester Lines in Spatial Movement Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Kinematic Analysis of 3 RSS+CP Parallel Mechanisms

Authors : Tarcisio Antonio Hess Coelho, Fernando Malvezzi

Published in: Mechanisms, Transmissions and Applications

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

The paper presents an asymmetric three-degree-of-freedom parallel mechanism purposely conceived as a robotic device for tool positioning applications. The kinematic structure of the mechanism contains one central passive limb that constrains the end-effector motion to two translations and one rotation. This work deals with important issues related to the parallel mechanism, such as the position kinematics analysis and the singular configurations prediction.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Geared Linkages with Linear Actuation Used as Kinematic Chains of a Planar Parallel Manipulator
next chapter On the Accuracy Analyses of a Class of 2-DOF Planar Parallel Manipulators
Literature
1.
Merlet, J.P.: Parallel Robots, 2nd edn. Springer, Berlin (2006)MATH
2.
Tsai, L.W.: Robot Analysis: The mechanics of Serial and Parallel Robots. Wiley, New York (1999)
3.
Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation. Kluwer, The Netherlands (2004)CrossRefMATH
4.
5.
Khol, R.A.: Machine tool built from mathematics. Am. Machinist 138, 53–55 (1994)
6.
Neumann, K.E.: Next generation tricept—a true revolution in parallel kinematics. In: Proceedings of the 4th Chemnitz Parallel Kinematics Seminar, PKS2004, Verlag Wissenschaftliche Scripten. Reports from IWU, vol. 24, pp. 591–594 (2004)
7.
Kim, H.S., Tsai, L.-W.: Design Optimization of a Cartesian Parallel Manipulator. ASME DETC Confer, Montreal (2002)CrossRef
8.
Gosselin, C.M., Kong, X., Foucault, S., Bonev, I.A.: A fully-decoupled 3-dof translational parallel mechanism. In: Proceedings of 4th Chemnitz Parallel Kinematics Seminar, PKS2004, Verlag Wissenschaftliche Scripten. Reports from IWU, vol. 24, pp. 595–610 (2004)
9.
Chablat, D., Wenger, P., Staicu, S.: Dynamics of the orthoglide parallel robot. UPB Sci. Bull. Ser. D Mech. Eng. 71(3), 3–16 (2009)
10.
Di Gregorio, R., Parenti-Castelli, V.: Design of 3-dof parallel manipulators based on dynamic performances. In: Proceedings of the 4th Chemnitz Parallel Kinematics Seminar, PKS2004, Verlag Wissenschaftliche Scripten. Reports from IWU, vol. 24, pp. 385–397 (2004)
11.
Li, Q., Huang, Z.: Type synthesis of 5-DOF parallel manipulators. In: Proceedings of the 2003 IEEE International Conference on Robotics and Automation Taipei, Taiwan, pp. 1203–1208 (2003)
12.
Huang, T., Li, M., Zhao, X.M., Mei, J.P., Chetwynd, D.G., Hu, S.J.: Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant—a novel 5-DOF reconfigurable hybrid robot. IEEE Trans. Rob. 21(3), 449–456 (2005)CrossRef
13.
Kumazawa, V.D., Hess-Coelho, T.A., Rinaudi, D., Carbone, G., Ceccarelli, M.: Kinematic analysis and operation feasibility of a 3-dof asymmetric parallel mechanism. In: Proceedings of the 20th COBEM, Gramado (2009)
14.
HESS-Coelho, T.A., Branchini, D.M., Malvezzi, F.: A new family of 3-DOF parallel robot manipulators for pick-and-place operations. In: 18th COBEM 2005, Ouro Preto (2005)
15.
HESS-Coelho, T.A.: An alternative procedure for type synthesis of parallel mechanisms. In: 12th IFTOMM World Congress, Besançon (2007)
16.
Craig, J.J.: Introduction to Robotics: Mechanics and Control, 2nd edn. Pearson Education, New Jersey (1989)MATH
17.
Azulay, H., et al.: Comparative analysis of a new 3_PPRS parallel kinematic mechanism. Robot. Comput.-Integr. Manuf. 30, 369–378 (2014)CrossRef
Metadata
Title
Kinematic Analysis of 3 RSS+CP Parallel Mechanisms
Authors
Tarcisio Antonio Hess Coelho
Fernando Malvezzi
Copyright Year
2015
Book
Mechanisms, Transmissions and Applications

Print ISBN: 978-3-319-17066-4

Electronic ISBN: 978-3-319-17067-1

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-17067-1_4

Premium Partners

    Image Credits