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Published in:
2009 | OriginalPaper | Chapter
ON NEW CLASS OF PARALLEL-CROSS MECHANISMS
Authors : V. A. Glazunov, S. Briot, V. Arakelian, Minh Thanh Nguyen
Published in: Computational Kinematics
Publisher: Springer Berlin Heidelberg
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This paper deals with the conceptual design and analysis of a new class of parallel-cross mechanisms. In the conceptual design two cases are considered in function of the position of the actuators: the actuators are located upon the base and the actuators are located under the base. In order to appreciate the performances of the proposed mechanisms, they are compared with the traditional architecture of parallel manipulators. It is shown that the workspaces of the proposed parallel-cross mechanisms are larger than the traditional architectures of parallel manipulators. The simulations for comparative analysis are carried out taking into account the geometrical limitations of structures and pressure angle.