Articles | Volume 9, issue 1
https://doi.org/10.5194/ms-9-25-2018
https://doi.org/10.5194/ms-9-25-2018
Research article
 | 
22 Jan 2018
Research article |  | 22 Jan 2018

Pa2 kinematic bond in translational parallel manipulators

Alfonso Hernández, Erik Macho, Mónica Urízar, Víctor Petuya, and Zhen Zhang

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Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Affi, Z., Romdhane, L., and Maalej, A.: Dimensional synthesis of a 3-translational-DOF in-parallel manipulator for a desired workspace, Eur. J. Mech. A-Solid., 23, 311–324, 2004.
Angeles, J.: The qualitative synthesis of parallel manipulators, ASME Journal of Mechanical Design, 126, 617–624, 2004.
Angeles, J.: The degree of freedom of parallel robots: a Group-Theoretic approach, IEEE Int. Conf. Robot., Barcelona, Spain, 2005.
Arai, T., Hervé, J. M., and Tanikawa, T.: Development of 3 DOF Micro Finger, Proc. IROS'96, 5–8 November, Osaka, 981–987, 1996.
Ceccarelli, M. and Ottaviano, E.: An analytical design for CaPaMan with prescribed position and orientation, in: 2000 ASME Biennial Mechanisms and Robotics Conference, Baltimore, Maryland, paper DETC2000/MECH-14099, 2000.
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Short summary
In this paper the potentiality of using Pa2 joints for designing robots with parallel structure and translational motion is studied. As the equations governing its motion are simpler than those of other structures, the control system of the robot is more efficient and reliable. The structure proposed has high stiffness improving the accuracy of its movements.