Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-27T23:00:44.906Z Has data issue: false hasContentIssue false
  • English
  • Français

Practical feasibility of a high-precision 3-UPU parallel mechanism

Published online by Cambridge University Press:  06 August 2013

Gaurav Bhutani  and
T. A. Dwarakanath
Gaurav Bhutani
Affiliation:
Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai 400085, India
T. A. Dwarakanath*
Affiliation:
Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai 400085, India
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we revisit the 3-degrees of freedom (DOF) pure translational mechanism. The mathematical model and the design considerations are discussed. A detailed sensitivity and error analysis is carried out and the results are discussed in a new perspective. The feasibility of the practical 3-DOF pure translational mechanism is established with novel design considerations to take care of theoretical mobility and geometrical constraints. We describe and validate the theoretical observations with stage-wise prototype models and experiments. The experimental results concur that all is well with 3-UPU in contrast to what is presented in refs. [6, 9, 10].

Keywords

3-UPUSingularity analysisSensitivity analysisError analysisPrototype development
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 341 - 355
Copyright
Copyright © Cambridge University Press 2013 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Tsai, L.-W. and Joshi, S., “Kinematics and optimization of a spatial 3-UPU parallel manipulator,” J. Mech. Des. 122, 439–446 (2000).Google Scholar
2.Joshi, S. and Tsai, L.-W., “Jacobian analysis of limited-DOF parallel manipulators,” J. Mech. Des. 124, 254–258 (2002).Google Scholar
3.Hu, B. and Lu, Y., “Solving stiffness and deformation of a 3-UPU parallel manipulator with one translation and two rotations,” Robotica 29, 815–822 (2011).CrossRefGoogle Scholar
4.Di Gregori, R. and Parenti-Castelli, V., “A translational 3-DOF parallel manipulator,” In: Advances in Robot Kinematics: Analysis and Control (Lenarcic, J. and Husty, M. L., eds.) (Kluwer Academic Publishers, Netherlands, 1998) pp. 49–58.CrossRefGoogle Scholar
5.Di Gregorio, R., Parenti-Castelli, V., “Mobility analysis of the 3-UPU parallel mechanism assembled for a pure translational motion,” J. Mech. Des. 124 (2), 259–264 (2002).CrossRefGoogle Scholar
6.Han, C., Kim, J., Kim, J. and Park, F. C., “Kinematic sensitivity analysis of the 3-UPU parallel mechanism,” Mech. Mach. Theory 37, 787–798 (2002).CrossRefGoogle Scholar
7.Merlet, J. P., “Jacobian, manipulability, condition number, and accuracy of parallel robots,” J. Mech. Des. 128 (1), 199–206 (2005).CrossRefGoogle Scholar
8.Walter, D. R., Husty, M. L. and Pfurner, M., “A Complete Kinematic Analysis of the SNU 3-UPU Parallel Manipulator,” In: Interactions of Classical and Numerical Algebraic Geometry, Contemporary Mathematics, vol. 496 (Bates, D. J., Besana, G. M., Di Rocco, S. and Wampler, C. W., eds.) (American Mathematical Society, Providence, RI, 2009) pp. 331–346.CrossRefGoogle Scholar
9.Venanzi, S. and Parenti-Castelli, V., “A new technique for clearance influence analysis in spatial mechanisms,” J. Mech. Des. 127 (5), 446–455 (2004).Google Scholar
10.Meng, J., Zhang, D. and Li, Z., “Accuracy analysis of parallel manipulators with joint clearance,” J. Mech. Des. 131 (1), 1–9 (2008).Google Scholar
11.Gosselin, C., Angeles, J., “Singularity analysis of closed-loop kinematic chains,” IEEE Trans. Robot. Autom. 6 (3), 281–290 (1990).CrossRefGoogle Scholar
12.Blanding, D. L., Exact Constraint: Machine Design Using Kinematic Principles (ASME Press, New York, 1999).Google Scholar