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Analysis of two 3-DOF parallel mechanisms with constrained Stewart Platform structure

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4 Author(s)
Seok-Hee Lee ; Dept. of Control & Instrum. Eng., Korea Univ., Seoul ; Whee-Kuk Kim ; Byung-Ju Yi ; Il-Hong Suh

Two 3-DOF parallel mechanisms, a translational mechanism and a spherical mechanism, are analyzed. Each of two mechanisms commonly possesses three UPS serial sub-chains, and an additional passive 3-DOF PPP-type serial sub-chain and a passive 3-DOF RRR-type serial sub-chain are incorporated for the translational device and the rotational device, respectively. Such additional passive serial sub-chains act as constraints to restrict the output motion of the mechanism either in a 3-DOF translational space or in a 3-DOF spherical space. The position solutions of the proposed mechanisms and their first-order kinematic models are derived. Then their workspaces and kinematic characteristics are examined via the kinematic isotropic index

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006