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 85
- Downloads 0
THE INFLUENCE OF THE INITIAL JOINT CONFIGURATION ON THE REDUNDANCY RESOLUTION USING SEARCH METHODS
The redundancy problem concerns here a serial planar redundant manipulator with four degrees of freedom. More precisely, the end-effector of this redundant manipulator must achieve the imposed task of following the conto...
HOLE EXPANSION SIMULATION CONSIDERING THE DIFFERENTIAL HARDENING OF A SHEET METAL
The effects of material models on the predictive accuracy of the finite element analyses of hole expansion forming are investigated. The test material used is a zinc-coated low carbon steel sheet. Biaxial tensile tests o...
MODULAR AUTOMATON SYSTEM WITH REAL TIME CONTROL FOR CREATING COMMAND INSTALATIONS AND ELECTRICAL OPERATIONS DEDICATED TO COMBINED FORAGES PRODUCTION INSTALATIONS
The present technique performances have given the ability of achieving command installations and operations with a high level of complexity and technicality for conducting technological processes with the monitoring of a...
ON THE RESPONSE OF THE CAR FROM ROAD DISTURBANCES
The tire/road contact dynamics is investigated in this paper by assuming a rocky road. The vehicle model to be used in simulation is a seven degree of freedom full-car model. The contact domain between the tire and the r...
COUPLED TRANSVERSAL AND LONGITUDINAL VIBRATIONS OF A PLANE MECHANICAL SYSTEM WITH TWO IDENTICAL BEAMS
The paper aims to highlight some vibrations properties for a plane beams structure, where transverse vibrations are coupled with the longitudinal vibrations. In engineering practice it often happens that identical parts...