Articles | Volume 6, issue 1
https://doi.org/10.5194/ms-6-57-2015
https://doi.org/10.5194/ms-6-57-2015
Research article
 | 
24 Apr 2015
Research article |  | 24 Apr 2015

Kinematic analysis of a novel 3-CRU translational parallel mechanism

B. Li, Y. M. Li, X. H. Zhao, and W. M. Ge

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Cited articles

Callegari, M., Cammarata, A., Gabrielli, A., and Sinatra, R.: Kinematics and dynamics of a 3-CRU spherical parallel robot, in: Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Las Vegas, Nevada, USA, 91–101, 2007.
Callegari, M., Cammarata, A., and Ruggiu, M.: Kinetostatic synthesis of a 3-CRU spherical wrist for miniaturized assembly tasks, Proc. 18th AIMeTA Congress of Theoretical and Applied Mechanics, Brescia, Italy, 10–26, 2007.
Carbonari, L., Battistelli, M., Callegari, M., and Palpacelli, M.-C.: Dynamic modelling of a 3-CPU parallel robot via screw theory, Mech. Sci., 4, 185–197, https://doi.org/10.5194/ms-4-185-2013, 2013.
Chablat, D. and Wenger, P.: Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the Orthoglide, IEEE Trans. Robot. Auto., 255, 1–8, 2001.
Chung, C. L. and Hervé, J. M.: Translational parallel manipulators with doubly planar limbs, Mech. Mach. Theory, 41, 433–455, 2006.
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Short summary
This paper proposes a modified 3-DOF TPM 3-CRU. The mobility of the mechanism is analyzed based on screw theory. Both inverse and forward position analyses are performed, and the analytical solutions are obtained with respect to these two problems. The proposed TPM has explicit solutions for the inverse and forward kinematics issues. Both the path planning and control problems of the mechanism are very simple. The Jacobian matrix of the mechanism and reachable workspace are obtained.