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Kinematic analysis of a novel 2(3-RUS) parallel manipulator

Published online by Cambridge University Press:  20 January 2015

Róger E. Sánchez-Alonso ,
José-Joel González-Barbosa ,
Eduardo Castillo-Castaneda  and
Jaime Gallardo-Alvarado
Róger E. Sánchez-Alonso*
Affiliation:
Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Querétaro, QRO, México
José-Joel González-Barbosa
Affiliation:
Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Querétaro, QRO, México
Eduardo Castillo-Castaneda
Affiliation:
Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional. Cerro Blanco, No. 141, Colinas del Cimatario, Querétaro, QRO, México
Jaime Gallardo-Alvarado
Affiliation:
Departamento de Ingeniería Mecánica, Instituto Tecnológico de Celaya. Av. Tecnológico y Av. García Cubas, No. 38010, Celaya, GTO, México
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper introduces a novel 6-DOF parallel manipulator, which is composed of two 3-RUS parallel manipulators that share a common three-dimensional moving platform. Semi-analytical form solutions are easily obtained to solve the forward displacement analysis of the robot using the non-planar geometry of the moving platform, whereas the velocity, acceleration, and singularity analyses are performed using screw theory. A case study is included to show the application of the kinematic model, which is verified with the aid of a commercially available software. Simple kinematic analysis and reduced singular regions are the main benefits of the proposed parallel manipulator.

Keywords

Parallel manipulatorsHexapodsKinematic analysisSemi-analytical form solutionScrew theory
Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016 , pp. 2241 - 2256
Copyright
Copyright © Cambridge University Press 2015 

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