RESEARCH ARTICLE

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

  • Po-Chih LEE ,
  • Jyh-Jone LEE
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  • Department of Mechanical Engineering, Taiwan University, Taipei, China

Received date: 31 Jan 2012

Accepted date: 08 Mar 2012

Published date: 05 Jun 2012

Copyright

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg

Abstract

This paper presents the analysis of three parallel manipulators with Schoenflies-motion. Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degree of freedom) in the translational motion and one DOF in rotational motion about a given direction axis with respect to the world coordinate system. The three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHw, CuRuuUhw-//-CvRvvUhw and CuPuUhw-//- CvPvUhw. The kinematic equations are first introduced for each manipulator. Then, Jacobian matrix, singularity, workspace, and performance index for each mechanism are subsequently derived and analysed for the first time. The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application in industry where pick-and-place motion is required.

Cite this article

Po-Chih LEE , Jyh-Jone LEE . Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion[J]. Frontiers of Mechanical Engineering, 2012 , 7(2) : 163 -187 . DOI: 10.1007/s11465-012-0324-5

Acknowledgements

The authors would like to thank Professor Chung-Ching Lee of National Kaohsiung University of Applied Sciences for his suggestions on this work.
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