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Design and kinematics analysis of a new 3CCC parallel mechanism

Published online by Cambridge University Press:  10 February 2010

Dongming Gan ,
Qizheng Liao ,
Jian S. Dai  and
Shimin Wei
Dongming Gan*
Affiliation:
Beijing University of Posts and Telecommunications, Beijing 100876, China King's College London, University of London, Strand, London WC2R2LS, UK
Qizheng Liao
Affiliation:
Beijing University of Posts and Telecommunications, Beijing 100876, China
Jian S. Dai
Affiliation:
King's College London, University of London, Strand, London WC2R2LS, UK
Shimin Wei
Affiliation:
Beijing University of Posts and Telecommunications, Beijing 100876, China
*
*Corresponding author. E-mail: [email protected]
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Summary

A CCC limb and a new 3CCC parallel mechanism have been designed in this paper based on geometry analysis. Their mobility and geometrical constraints are discussed by using screw theory and geometrical equations separately. Following that both the inverse and forward kinematics of the 3CCC parallel mechanism are proposed, in which Dixon's resultant is used to get the forward solutions for the orientation and a eighth-order polynomial equation in one unknown is obtained, leading to the results for the position analysis, numerical examples confirm these theoretical results. A short comparison with the traditional Stewart platforms is presented in terms of kinematics, workspace and trajectory planning.

Keywords

General Stewart platformCylinderKinematicsMobilityWorkspace
Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010 , pp. 1065 - 1072
Copyright
Copyright © Cambridge University Press 2010

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