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Kinematic design of a translational parallel manipulator with fine adjustment of platform orientation

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2 Author(s)
Masataka Tanabe ; Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 152-8552, Japan ; Yukio Takeda

We present a kinematic design of a translational parallel manipulator with fine adjustment capability of platform orientation (TPMFAO). In order to clarify possible kinematic structures for it, structural synthesis of fully decoupled mechanism and partially decoupled mechanism both with six degrees of freedom (dof) was carried out based on the synthesis results of translational and rotational parallel mechanisms with three dof. All possible kinematic structures are listed as the result. Of these, one partially decoupled mechanism was selected and a kinematic design of a prototype manipulator was done. Its characteristics in terms of workspace, singularity, orientation adjustment capability, and coupling characteristics between translational and rotational displacement are discussed.

Published in:

2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Date of Conference:

14-17 July 2009