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A 2(3-RRPS) parallel manipulator inspired by Gough–Stewart platform

Published online by Cambridge University Press:  26 July 2012

Jaime Gallardo-Alvarado ,
Mario A. García-Murillo  and
Eduardo Castillo-Castaneda
Jaime Gallardo-Alvarado*
Affiliation:
Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México
Mario A. García-Murillo
Affiliation:
Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional, Cerro Blanco 141, Colinas del Cimatario, Querétaro, QRO, México
Eduardo Castillo-Castaneda
Affiliation:
Centro de Investigación en Ciencia Aplicada y Tecnología Avanzada, Instituto Politécnico Nacional, Cerro Blanco 141, Colinas del Cimatario, Querétaro, QRO, México
*
*Corresponding author. E-mail: gjaime@itc.mx; jaime.gallardo@itcelaya.edu.mx
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Summary

This study addresses the kinematics of a six-degrees-of-freedom parallel manipulator whose moving platform is a regular triangular prism. The moving and fixed platforms are connected to each other by means of two identical parallel manipulators. Simple forward kinematics and reduced singular regions are the main benefits offered by the proposed parallel manipulator. The Input–Output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. A case study, which is verified with the aid of commercially available software, is included with the purpose to exemplify the application of the method of kinematic analysis.

Keywords

Novel applications of roboticsParallel manipulatorsGough/Stewart platformSemiclosed form solutionScrew theorySpace kinematics
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 381 - 388
Copyright
Copyright © Cambridge University Press 2012

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