In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called 'motion generators'. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator. ; The authors wish to acknowledge the financial support received from the Spanish Government through the Ministerio de Economia y Competitividad (Project DPI2011-22955), the Regional Government of the Basque Country through the Dpto. Educ., Univ. e Investig. (Project IT445-10) and UPV/EHU under programme UFI 11/29.
Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators
2014-07-16
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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