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Kinematics of a New High Precision Three Degree-of-Freedom Parallel ManipulatorClosed-form direct and inverse kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators are presented. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. Since all of the manipulator actuators are base-mounted; higher payload capacity, smaller actuator sizes, and lower power dissipation can be obtained. The manipulator is suitable for alignment applications where only tip, tilt, and piston motions are significant. The direct kinematics of the manipulator is reduced to solving an eighth-degree polynomial in the square of tangent of half-angle between one of the limbs and the base plane. Hence, there are at most sixteen assembly configurations for the manipulator. In addition, it is shown that the sixteen solutions are eight pairs of reflected configurations with respect to the base plane. Numerical examples for the direct and inverse kinematics of the manipulator are also presented.
Document ID
20050080788
Acquisition Source
Goddard Space Flight Center
Document Type
Conference Paper
Authors
Tahmasebi, Farhad
(NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
August 22, 2013
Publication Date
January 1, 2005
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Report/Patent Number
DETC05/DAC-1234
Distribution Limits
Public
Copyright
Other

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