A new three-prismatic-revolute-cylindrical (three-PRC) translational parallel manipulator (TPM) with orthogonally arranged fixed actuators is proposed in this paper. The mobility of the manipulator is analysed via screw theory. The inverse kinematics, forward kinematics, and velocity analyses are performed and the singularities and isotropic configurations are identified afterwards. Moreover, the mechanism design rules producing a singularity-free manipulator have been generated. Under different cases of physical constraints subject to mechanical joints, the reachable workspace of the manipulator is geometrically determined and compared. In particular, it is illustrated that the manipulator has a regular shape workspace with a maximum cuboid defined as the usable workspace inscribed and one isotropic configuration involved. Furthermore, to obtain a large usable workspace, the architecture design of a three-PRC TPM is carried out and the singularity property within the usable workspace is verified. Simulation results show that there are no singular configuration within the workspace, which reveal the validity of design rules for a singularity-free three-PRC TPM.
ClavelR.DELTA, a fast robot with parallel geometry. In Proceedings of 18th International Symposium on Industrial robots, Lausanne, Switzerland, 1988, pp. 91–100.
2.
TsaiL. W.WalshG. C.StamperR. E.Kinematics of a novel three DOF translational platform. In Proceedings of IEEE International Conference on Robotics and automation, Minneapolis, Minnesota, 1996, pp. 3446–3451.
3.
LiY.XuQ.Dynamic analysis of a modified DELTA parallel robot for cardiopulmonary resuscitation. In proceedings of IEEE/RSJ International Conference on Intelligent robots and systems, Edmonton, Canada, 2005, pp. 3371–3376.
4.
ChablatD.WengerP.Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the Orthoglide. IEEE Trans. Robot. Autom., 2003, 19(3), 403–410.
5.
GosselinC.AngelesJ.The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator. ASME, J. Mech. Transm. Autom. Des., 1989, 111(2), 202–207.
6.
HuangT.GosselinC. M.WhitehouseD. J.ChetwyndD. G.Analytical approach for optimal design of a type of spherical parallel manipulator using dexterous performance indices. Proc. Instn Mech. Engrs, Part C: J. Mechanical Engineering Science, 2003, 217(C4), 447–455.
7.
XiF.ZhangD.MechefskeC. M.LangS. Y. T., Global kinetostatic modelling of tripod-based parallel kinematic machine. Mech. Mach. Theory, 2004, 39(4), 357–377.
8.
LiY.XuQ.Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism. Robotica, 2005, 23(2), 219–229.
9.
LiuX.-J.KimJ.OhK.-K.Singularity analysis of the HALF parallel manipulator with revolute actuators. In Proceedings of IEEE International Conference on Robotics and automation, Taipei, Taiwan, 2003, pp. 767–772.
10.
TsaiL. W.JoshiS.Kinematics analysis of 3-DOF position mechanisms for use in hybrid kinematic machines. ASME, J. Mech. Des., 2002, 124(2), 245–253.
11.
ZhaoT. S.HuangZ.A novel three-DOF translational platform mechanism and its kinematics. In Proceedings of ASME Design Engineering Technical Conference, Baltimore, MD, 2000, paper no. DETC2000/MECH-14101.
12.
CallegariM.TarantiniM.Kinematic analysis of a novel translational platform. ASME, J. Mech. Des., 2003, 125(2), 308–315.
13.
KongX.GosselinC. M.Kinematics and singularity analysis of a novel type of 3-CRR 3-DOF translational parallel manipulator. Int. J. Robot. Res., 2002, 21(9), 791–798.
14.
KimH. S.TsaiL. W.Design optimization of a Cartesian parallel manipulator. ASME, J. Mech. Des., 2003, 125(1), 43–51.
15.
HervéJ. M.SparacinoF.Structural synthesis of parallel robots generating spatial translation. In Proceedings of 5th International Conference on Advanced robotics, Pisa, Italy, 1991, pp. 808–813.
16.
CarricatoM.Parenti-CastelliV.A family of 3-DOF translational parallel manipulators. ASME, J. Mech. Des., 2003, 125(2), 302–307.
17.
KimD.ChungW. K.Kinematic condition analysis of three-DOF pure translational parallel manipulators. ASME, J. Mech. Des., 2003, 125(2), 323–331.
18.
KongX.GosselinC. M.Type synthesis of 3-DOF translational parallel manipulators based on screw theory. ASME, J. Mech. Des., 2004, 126(1), 83–92.
19.
JinQ.YangT.-L.Theory for topology synthesis of parallel manipulators and its application to three dimension-translation parallel manipulators. ASME, J. Mech. Des., 2004, 126(4), 625–639.
20.
HuangZ.LiQ. C.On the type synthesis of lower-mobility parallel manipulators. In Proceedings of Workshop on Fundamental issues and future research directions for parallel mechanisms and manipulators, Quebec, Canada, 2002, pp. 272–283.
21.
LiY.XuQ.Kinematics and dexterity analysis for a novel 3-DOF translational parallel manipulator. In Proceedings of IEEE International Conference on Robotics and automation, Barcelona, Spain, 2005, pp. 2955–2960.
22.
MerletJ.-P.A generic trajectory verifier for the motion planning of parallel robots. ASME, J. Mech. Des., 2001, 123(4), 510–515.
23.
YangG.ChenI.-M.LinW.AngelesJ., Singularity analysis of three-legged parallel robots based on passive-joint velocities. IEEE Trans. Robot. Autom., 2001, 17(4), 413–422.
24.
Di GregorioR.Parenti-CastelliV.Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion. ASME, J. Mech. Des., 2002, 124(2), 259–264.
25.
ZlatanovD.BonevI. A.GosselinC. M.Constraint singularities of parallel mechanisms. In Proceedings of IEEE International Conference on Robotics and automation, Washington, DC, 2002, pp. 496–502.
26.
LiuG. F.LouY. J.LiZ. X.Singularities of parallel manipulators: A geometric treatment. IEEE Trans. Robot. Autom., 2003, 19(4), 579–594.
27.
LiY.XuQ.Kinematic analysis of a new 3-DOF translational parallel manipulator. In Proceedings of ASME International Design Engineering Technical Conference, Long Beach, CA, 2005, DETC2005-84299, pp. 1015–1024.
28.
DaiJ. S.HuangZ.LipkinH.Screw system analysis of parallel mechanisms and applications to constraint and mobility study. In Proceedings of 28th ASME Biennial Mechanisms and Robotics Conference, Salt Lake City, Utah, 2004, DETC2004-57604, pp. 1569–1582.
29.
LiY.XuQ.Kinematic analysis and design of a new 3-DOF translational parallel manipulator. ASME, J. Mech. Des., 2006, 128(4), 729–737.
30.
DaiJ. S.HuangZ.LipkinH.Mobility of overconstrained parallel mechanisms. ASME, J. Mech. Des., 2006, 128(1), 220–229.
31.
GosselinC.AngelesJ.A global performance index for the kinematic optimization of robotic manipulators. ASME, J. Mech. Des., 1991, 113(3), 220–226.
