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Uncoupled actuation of overconstrained 3T-1R hybrid parallel manipulators

Published online by Cambridge University Press:  01 January 2009

Chung-Ching Lee  and
Jacques M. Hervé
Chung-Ching Lee*
Affiliation:
Department of Tool & Die-Making, National Kaohsiung University of Applied Sciences, 415 Chien Kung Road, Kaohsiung 80782, Taiwan R.O.C.
Jacques M. Hervé
Affiliation:
Ecole Centrale Paris, Grande Voie des Vignes, F-92295 Chatenay-Malabry, France
*
*Corresponding author. E-mail: [email protected]
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Summary

Based on the Lie-group-algebraic properties of the displacement set and intrinsic coordinate-free geometry, several novel 4-dof overconstrained hybrid parallel manipulators (HPMs) with uncoupled actuation of three spatial translations and one rotation (3T-1R) are proposed. In these HPMs, three limbs are those of Cartesian translational parallel mechanisms (CTPMs) and the fourth limb includes an Oldham-type constant velocity shaft coupling (CVSC). The Lie subgroup of Schoenflies (X) displacements of the displacement Lie group and its mechanical generators with nine categories of their general architectures are recalled. A comprehensive enumeration of all possible Oldham-type CVSC limbs is derived from X-motion generators. Their constant velocity (CV) transmissions are verified by group-algebraic approach. Then, combining one CTPM and one CVSC, we synthesize a lot of uncoupled 3T-1R overconstrained HPMs, which are classified into nine distinct classes of general architectures. In addition, all possible architectures with at least one hinged parallelogram or with one cylindrical pair are disclosed too. At last, related non-overconstrained HPMs are attained by the addition of one idle pair in each limb of the previous HPMs.

Keywords

Lie groupUncoupled actuationOverconstrainedHybrid manipulatorOldham couplingConstant velocity shaft couplingSchoenflies motionSchönflies
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 103 - 117
Copyright
Copyright © Cambridge University Press 2008

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