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Design and analysis of CICABOT: a novel translational parallel manipulator based on two 5-bar mechanisms

Published online by Cambridge University Press:  21 July 2011

M. F. Ruiz-Torres ,
E. Castillo-Castaneda  and
J. A. Briones-Leon
M. F. Ruiz-Torres
Affiliation:
Centro de Investigacion en Ciencia Aplicada y Tecnologia Avanzada, Instituto Politecnico Nacional, Cerro Blanco 141, Colinas del Cimatario, Queretaro, Mexico
E. Castillo-Castaneda*
Affiliation:
Centro de Investigacion en Ciencia Aplicada y Tecnologia Avanzada, Instituto Politecnico Nacional, Cerro Blanco 141, Colinas del Cimatario, Queretaro, Mexico
J. A. Briones-Leon
Affiliation:
Centro de Investigacion en Ciencia Aplicada y Tecnologia Avanzada, Instituto Politecnico Nacional, Cerro Blanco 141, Colinas del Cimatario, Queretaro, Mexico
*
*Corresponding author. E-mail: [email protected]
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Summary

This work presents the CICABOT, a novel 3-DOF translational parallel manipulator (TPM) with large workspace. The manipulator consists of two 5-bar mechanisms connected by two prismatic joints; the moving platform is on the union of these prismatic joints; each 5-bar mechanism has two legs. The mobility of the proposed mechanism, based on Gogu approach, is also presented. The inverse and direct kinematics are solved from geometric analysis. The manipulator's Jacobian is developed from the vector equation of the robot legs; the singularities can be easily derived from Jacobian matrix. The manipulator workspace is determined from analysis of a 5-bar mechanism; the resulting workspace is the intersection of two hollow cylinders that is much larger than other TPM with similar dimensions.

Keywords

Parallel manipulatorsTranslational parallel manipulatorMobility analysis5-bar mechanismRobot workspace
Type
Articles
Information
Robotica , Volume 30 , Issue 3 , May 2012 , pp. 449 - 456
Copyright
Copyright © Cambridge University Press 2011

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