Kinematic Modeling of a 3-DOF Translational Parallel Manipulator
Abstract:This study aims to develop a three-degree-of-freedom (3-DOF) translational parallel platform manipulator. The 3-DOF translational parallel platform manipulator which contains three serial chains, a fixed base, and a movable platform is designed on geometry and analyzed on kinematics. In detail, an efficient approach is described to resolve the problem of kinematics inclusive of inverse kinematics and forward kinematics in analytical forms for given end-effector poses. In this paper, the formulation of the kinematics of the 3-DOF translational parallel platform manipulator performs three vertical translations with identical limb structures. Based on the structure design theory of the mechanism, the structure is analyzed, the mobility of this manipulator is calculated, and the end-effector of the parallel manipulator can make a three dimensional motion in the X-Y-Z coordinate system. In addition, according to the characteristics of the mechanism, the inverse kinematics and the forward kinematics of the manipulator are proposed by the coordinate transformation theory. By means of numerical analysis and computer simulation, the kinematic models are successfully verified and the kinematic trajectories of the end-effector are simulated including a circular path and a ball path. The simulation results show that the effectiveness and usefulness of the proposed manipulator are confirmed.
Document Type: Research Article
Publication date: 2012-07-01
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