Abstract
In this article, a new methodology for type synthesis of uncoupled translational parallel manipulators with 3-degrees of freedom is proposed based on actuation wrench screw theory. Mapping matrix between outputs of the moving platform and the inputs of the actuators for uncoupled translational parallel manipulators is derived. The forms of both the actuated twist screws and the actuation wrench screws of the limbs are determined by means of the condition that the Jacobian is a diagonal matrix with full rank. The steps used to confirm the non-actuated screws of the limbs are also established. Then, procedures for structure synthesis of the limbs are set up and all possible basic structure limbs are enumerated. Some new uncoupled translational parallel manipulators are synthesized by selecting three limbs connecting the platform to the base and two examples are given. The approach proposed is applicable to the type synthesis of uncoupled parallel manipulators with rotational mobility as well.
Highlights
Parallel manipulators are typically closed-loop mechanisms composed of a moving platform and a fixed base which are linked by several serial limbs.[1,2,3] Sometimes, in order to obtain certain special characteristics, these serial limbs can be replaced by one or more hybrid chains,[4,5,6] in which there is at least one limb consisting of a closed-loop structure
A new methodology for type synthesis of the uncoupled translational parallel manipulators (UTPMs) is proposed based on the actuation wrench screw theory
Selection principles of the actuated joints driving the platform to translate along the given direction are explored by means of the different types of the actuation wrench screws, zero-pitch, or infinite-pitch screws
Summary
Parallel manipulators are typically closed-loop mechanisms composed of a moving platform and a fixed base which are linked by several serial limbs.[1,2,3] Sometimes, in order to obtain certain special characteristics, these serial limbs can be replaced by one or more hybrid chains,[4,5,6] in which there is at least one limb consisting of a closed-loop structure. A new methodology for type synthesis of the uncoupled translational parallel manipulators (UTPMs) with 3-degrees of freedom (DOFs) is proposed based on actuation wrench screw theory. When the actuation wrench is a zero-pitch screw (linear force vector), it will push the platform to translate along its direction vector.
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