THE POTENTIAL OF THE 3-UPU TOPOLOGY FOR TRANSLATIONAL PARALLEL MANIPULATORS AND A PROCEDURE TO SELECT THE BEST ARCHITECTURE FOR A GIVEN TASK
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2013, Vol 58, Issue 1
Abstract
The 3-UPU three degrees of freedom fully parallel manipulator, where U and P are for universal and prismatic pair respectively, is a very well known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation with respect to the base, according to the relative directions of the revolute pair axes. In particular, pure translational parallel 3-UPU manipulators (3-UPU TPMs) received great attention. However, much work has still to be done to reveal all the features this topology can offer to the designer when different architectures, i.e. different geometries, are considered. Therefore, this paper will focus on this type of the 3-UPU manipulators. The paper collects the previous most relevant work done on the 3-UPU TPMs and shows the main results in a coherent general frame. The paper presents new architectures of the 3-UPU TPMs which offer interesting features to the designer. Then, based on a number of indexes, a procedure is proposed that allows the designer to select the best architecture of the 3-UPU TPMs for a given task.
Authors and Affiliations
AHMED HACHEM CHEBBI, VINCENZO PARENTI-CASTELLI
Keywords
Related Articles
- EP ID EP179086
- DOI -
- Views 78
- Downloads 0
TRIBOMECHANICAL CHARACTERISTICS OF CHROMIUM NITRIDE THIN FILMS DEPOSITED AT DIFFERENT PARAMETERS
Different nitride thin films are widely used in applications for cutting tools, biomedicine, and microelectronics and so on. This study is a research on chromium nitride thin films deposited by direct current magnetron s...
CONSIDERATIONS CONCERNING YIELD CRITERIA INSENSITIVE TO HYDROSTATIC PRESSURE
For distinguishing between pressure insensitive and pressure sensitive criteria, the form of yield surface with invariants is preferred. It is known that when this function can be formulated only in terms of the stress d...
PROPERTIES OF THE ENTROPY AND INFORMATIONAL ENERGY FOR THE SOLUTIONS OF BLACK-SCHOLES EQUATIONS
This paper studies the properties of the solutions of some stochastic differential equations and Black-Scholes type equations, in the n-dimensional case Rn, from the point of view of informational energy and entropy asso...
ON MODELING THE MECHANICAL BEHAVIOR AND TEXTURE EVOLUTION OF ROLLED AZ31 MG FOR COMPLEX LOADINGS INVOLVING STRAIN PATH CHANGES
An accurate description of the deformation response of AZ31 Mg under changing strain paths requires consideration of its strong anisotropy and its evolution with accumulated plastic deformation. In this paper, the viscop...
A NUMERICAL SIMULATION OF FLUID-STRUCTURE INTERACTION PROBLEMS BY A MESH-FREE METHOD
The solving of fluid-structure interaction problems are traditionally based on arbitrary Lagrangian-Eulerian formulations in which moving grids are used. However, for problems with large deformations, moving material int...