Abstract
A novel planar translational parallel robotic mechanism with three limbs is designed. The degree of freedom (DOF) and output characteristics of mechanism are studied based on the screw theory. The mathematic models including position, velocity and acceleration are derived according to different forms of the actuated inputs. When the linear displacements of two cylindrical joints are selected as the actuated inputs, the velocity Jacobian is an identity matrix and the mechanism has fully isotropic kinematics characteristics. Singularity of the mechanism is discussed and all singular configurations are explored. Finally, kinematics simulation of the mechanism is carried out by ADMAS and MATLAB software, and the kinematic curves are drawn.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IOP Conference Series: Materials Science and Engineering
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
