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A three-DOF translational manipulator with decoupled geometry

Published online by Cambridge University Press:  10 November 2005

Weimin Li,
Feng Gao and
Jianjun Zhang
Weimin Li
Affiliation:
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130 (P.R. China)
Feng Gao
Affiliation:
School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030 (P.R. China)
Jianjun Zhang
Affiliation:
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130 (P.R. China)
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Abstract

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A new 3-DOF translational parallel manipulator is presented in this paper. This manipulator has decoupled motion in for x, y, and z axes, and employs only revolute joints. The structure and kinematics of the manipulator are studied. The mechanism singularity is examined and the calibration methods are presented.

Keywords

Decoupled motionRedundant constraintsSingularityCalibration

Information

Type
Research Article
Information
Robotica , Volume 23 , Issue 6 , November 2005, pp. 805 - 808
Copyright
© 2005 Cambridge University Press