ICRA'09 Paper Abstract


Paper FrB8.5

Kim, Sung Mok (Korea Univ. korea), Kim, Whee Kuk (Korea university), Yi, Byung-Ju (Hanayang University)

Kinematic Analysis and Optimal Design of a 3T1R Type Parallel Mechanism

Scheduled for presentation during the Regular Sessions "Parallel Robots - II" (FrB8), Friday, May 15, 2009, 11:50−12:10, Room: 406

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Parallel Robots, Mechanism Design, Kinematics


In the previous studies on 4-DOF parallel mechanisms, only symmetric arrangement of four chains connected to the top plate was considered. Such symmetric shape sometimes falls into a sort of architetural singularity. This work demonstrates that an asymmetric placement of the four chains on the top platform is desired to minimize the effect of such architectural singularity. A new 4-DOF parallel mechanism exhibiting 4-DOF motion (3-DOF translational motion and one rotational motion) is examined as an exemplary device. This device consists of a base plate, an upper plate, and four hybrid subchains connecting those two plates together. A set of offset angles on the top platform is found, which significantly minimizes the architectural singularity problem within the valid workspace of the mechanism. Next, the position analysis and kinematic modeling for this mechanism are performed, and an optimal design with respect to the workspace size and the kinematic isotropic characteristic is conducted. Through the analysis of the workspace and kinematic isotropic property for the optimized mechanism, we verified its high potential for real applications. Finally, the mechanism was developed to verify the motion capability.



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