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Research Papers

Maximally Regular T2R1-Type Parallel Manipulators With Bifurcated Spatial Motion

[+] Author and Article Information
Grigore Gogu

Laboratoire de Mécanique et Ingénieries, IFMA, EA 3867, Clermont Université, BP 10448, F-63000 Clermont-Ferrand, France

J. Mechanisms Robotics 3(1), 011010 (Jan 14, 2011) (8 pages) doi:10.1115/1.4003180 History: Received June 13, 2009; Revised November 20, 2010; Published January 14, 2011; Online January 14, 2011

This paper presents a new family of maximally regular T2R1-type parallel manipulators with bifurcated spatial motion. In each branch, the moving platform has two independent translations (T2) and one rotation (R1) driven by three actuators mounted on the fixed base. The rotation axis is situated in the plane of translation and can bifurcate in two orthogonal directions. This bifurcation occurs in a constraint singularity in which the connectivity between the moving and fixed platforms increases instantaneously, incurring no change in limb connectivity. The Jacobian matrix of the maximally regular solutions presented in this paper is a 3×3 identity matrix in the entire workspace of each branch. This paper presents for the first time a family of maximally regular T2R1-type parallel manipulators with bifurcated spatial motion of the moving platform along with solutions using uncoupled motions.

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Copyright © 2010 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

T2R1-type parallel manipulator with uncoupled and bifurcated spatial motion of the moving platform: (a) constraint singularity and ((b) and (c)) branches with spatial motion; limb topology P̱⊥P⊥∥R⊥R-P̱∥R∥R∥R⊥R-P̱∥R∥RS

Grahic Jump Location
Figure 2

T2R1-type parallel manipulator with uncoupled and bifurcated spatial motion of the moving platform: (a) constraint singularity and ((b) and (c)) branches with spatial motion; limb topology P̱⊥P⊥∥R⊥R-P̱∥R⊥P⊥∥R⊥R-P̱∥R∥RS

Grahic Jump Location
Figure 3

Maximally regular T2R1-type parallel manipulator with bifurcated spatial motion of the moving platform: (a) constraint singularity and ((b) and (c)) branches with spatial motion; limb topology P̱⊥P⊥∥R⊥R-P̱∥R∥R∥R⊥R-Pa̱⊥R∥RS

Grahic Jump Location
Figure 4

Maximally regular T2R1-type parallel manipulator with bifurcated spatial motion of the moving platform: (a) constraint singularity and ((b) and (c)) branches with spatial motion; limb topology P̱⊥P⊥∥R⊥R-P̱∥R⊥P⊥∥R⊥R-Pa̱⊥R∥RS

Grahic Jump Location
Figure 5

Maximally regular T2R1-type parallel manipulator with bifurcated spatial motion of the moving platform: (a) constraint singularity and ((b) and (c)) branches with spatial motion; limb topology P̱⊥P⊥∥R⊥R-P̱∥R∥R∥R⊥R-Pa̱ss⊥RS

Grahic Jump Location
Figure 6

Maximally regular T2R1-type parallel manipulator with bifurcated spatial motion of the moving platform: (a) constraint singularity and ((b) and (c)) branches with spatial motion; limb topology P̱⊥P⊥∥R⊥R-P̱∥R⊥P⊥∥R⊥R-Pa̱ss⊥RS

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