Type Synthesis of Two DOF Hybrid Translational Parallel Manipulators

Abstract:

This paper introduces a methodology for the type synthesis of two degree-of-freedom hybrid translational manipulators with identical legs. The type synthesis method is based upon the screw theory. Three types of two degree-of-freedom hybrid translational manipulators with identical legs are identified based upon their wrench decomposition. Each leg of the manipulators is composed of a proximal module and a distal module mounted in series. The assembly conditions and the validity of the actuation scheme are also defined. Eventually, some novel two degree-of-freedom hybrid translational manipulators are synthesized with the proposed procedure.

• Periodical: Applied Mechanics and Materials (Volume 836)
• Pages: 48-53
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.836.48
• Online since: June 2016
• Authors: Latifah Nurahmi*, Stéphane Caro
• Keywords: Hybrid Legs, Parallel Manipulators, Screw Theory, Type Synthesis

References

[1] Company, O., Pierrot, F., Krut, S., Baradat, C., and Nabat., V, Par2: a Spatial Mechanism for Fast Planar Two-Degree-of-Freedom Pick-and-Place Applications, Mecanica, 46(1), pp.239-248, (2011).

DOI: 10.1007/s11012-010-9413-x

[2] Germain, C., Caro, S., Briot, S., and Wenger, P., Singularity-free design of the translational parallel manipulator IRSBot-2, Mechanism and Machine Theory, 64, pp.262-285, (2013).

DOI: 10.1016/j.mechmachtheory.2013.02.005

[3] K. H. Hunt., Geometry of Mechanics, Clarendon Press Oxford, Oxford, United Kingdom. pp.331-368, (1978).

[4] Kong, X., and Gosselin, C., Type Synthesis of Parallel Mechanism, Springer, Germany, (2007).