Abstract
A novel three degree-of-freedom manipulator, which includes three in-parallel limbs between a fixed frame and a platform that moves by spherical rotation about a fixed point, is described. This mechanism is not overconstrained and has the structural type of the translational Tsai platform. Each limb is a sequence of a universal joint, a prismatic pair and a universal joint (UPU). The spherical rotation of the moving platform is obtained by variation of length in the linear actuators that are mounted on the prismatic pairs of the three limbs. Under some geometric constraint changes, we obtain a generalised structure of the mechanism. This arrangement belongs to a more general family of mechanisms, which is presented succinctly and can be obtained from deductive reasoning.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Arai, T., Hervé, J.M. and Tanikawa, T. (1996), Development of 3 DOF Micro Finger, Proc. IROS 96, IEEE, pp. 981–987.
Asada, H., Granito C. (1985), Kinematic and static characterization of wrist joints and their optimal design, IEEE Int. Conf. On Robotics and Automation, St Louis, pp. 244–250.
Ball, R.S. (1900), A Treatise on the Theory of Screws, new edition Cambridge University Press, 1998.
Clavel, R. (1988), Delta a fast robot with parallel geometry, Proc. Int. Symposium on Industrial Robots, pp. 91–100.
Clavel, R. (1985), Device for displacing and positioning an element in space, PCT patent application, WO 87/03528.
Di Gregorio, R., Parenti-Castelli, V. (1998), A Translational 3-DOF parallel manipulator, Advances in Robot Kinematics: Analysis and Control, (J. Lenarcic and M. L. Husty, eds), Kluwer Academic Publishers, pp. 49–58.
Di Gregorio, R., Parenti-Castelli, V. (1999), Influence of leg flexibility on the kinetostatic behaviour of a 3-dof fully parallel manipulator, Proc. Tenth World Congress on the Theory of Machines and Mechanisms, Oulu, Finland
Gosselin, C., Hamel, J.F. (1994), The agile eye: a high performance three-degree-offreedom camera-orienting device, IEEE Int. Conference on Robotics and Automation, San Diego, pp. 781–787.
Gosselin, C, Angeles, J. (1989), The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator, ASME Journal of Mechanics, Transmission and Automation in Design, vol. 111, no. 2, pp.202–207.
Hayward, V., Kurtz, R. (1989), Preliminary study of serial-parallel redundant manipulator, in NASA Conference on Space Telerobotics,, Pasadena, pp.39–48.
Hervé, J.M. (1999), The Lie group of rigid body displacements, a fundamental tool for mechanism design, Mechanism and Machine Theory, 34, pp. 719–730.
Hervé, J.M., Sparacino, Fl. (1991), Structural synthesis of parallel robots generating spatial translation, 5 th ICAR, IEEE n°91TH0367–4, vol. 1, pp. 808–813.
Hervé, J.M., Sparacino, Fl. (1992), Star, a new concept in robotics’, 3 rd ARK Ferrara, Italy, pp. 176–183.
Hervé, J.M. (1992), Group mathematics and parallel link mechanisms, Proceedings of the IMACS SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems, Kobe, Japan, pp. 459–464.
Hervé, J.M. (1978), Analyse structurelle des mécanismes par groupe des déplacements, Mechanism and Machine Theory, 13 (4) pp. 437–450.
Larochelle, P.M. (1995) Design of 3-dof spherical robotic mechanisms, In the 9th World Congress on the Theory of Machines and Mechanisms, Milan, pp. 1826–1830.
Lee, K.M., Shah, D. K. (1987), Kinematic analysis of a three degrees of freedom in-parallel actuated manipulator, Proceedings of the 1987 IEEE International Conference on Robotics and Automation, vol. 1, pp. 345–350.
Leguay-Durant, S., Reboulet, C. (1997), Optimal design of redundant spherical manipulator, Robotica, 15(4) pp. 399–405.
Merlet, J.P. (1997), Les robots parallèles, Hermes, Paris 1997.
Parenti-Castelli, V., Di Gregorio, R., Lenarcic, J. (1998), Sensitivity to geometric parameter variation of a 3-dof fully-parallel manipulator, ICAM’98, Okayama, Japan.
Stamper, R.E., Tsai, L.W., Walsh, G.C. (1997), Optimization of a three DOF Translational Platform Well-Conditioned Workspace, IEEE Int’l. Conf. on Robotics and Automation, paper No. A1-MF_0025.
Tsai, L.W. (1996), Kinematics of a three-dof platform with three extensible limbs, Recent Advances in Robot Kinematics, Kluwer Academic Publishers, pp. 401–410.
Tsai, L.W. (1999), The enumeration of a class of three-dof parallel manipulators, Proc. Tenth World Congress on the Theory of Machine and Mechanisms, Oulu, Finland, pp. 1121–1126.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Karouia, M., Hervé, J.M. (2000). A Three-dof Tripod for Generating Spherical Rotation. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_41
Download citation
DOI: https://doi.org/10.1007/978-94-011-4120-8_41
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5803-2
Online ISBN: 978-94-011-4120-8
eBook Packages: Springer Book Archive