Translational parallel manipulator with Pa2 kinematic joints
The kinematic pair Pa2 is composed of two interlinked parallelograms. It has two degrees of freedom that generate a translational plane variable with position. It has a structure different from the PaPa pair, which is composed also by two parallelograms but generates a constant translational plane....
| Autores: | , , , , |
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| Tipo de documento: | capítulo de livro |
| Data de publicação: | 2016 |
| País: | España |
| Recursos: | Universidad del País Vasco |
| Repositório: | Addi. Archivo Digital para la Docencia y la Investigación |
| OAI Identifier: | oai:addi.ehu.eus:10810/34724 |
| Acesso em linha: | http://hdl.handle.net/10810/34724 |
| Access Level: | Acceso aberto |
| Palavra-chave: | Pa2 joint, translational parallel manipulator, kinematic analysis Pa2 joint translational parallel manipulator kinematic analysis |
| Resumo: | The kinematic pair Pa2 is composed of two interlinked parallelograms. It has two degrees of freedom that generate a translational plane variable with position. It has a structure different from the PaPa pair, which is composed also by two parallelograms but generates a constant translational plane. Currently, the Pa2 pair is used at conceptual level but it is not used in al-most any practical application. There are advantages and drawbacks in using it. The main drawback is the high number of redundant constraints that this pair possesses. However, sub-stituting carefully the revolute joints by spherical joints can eliminate these redundant con-straints. Also, this pair constitutes a more rigid structure that replaces adequately the problem-atic passive prismatic joints. In this paper, will be presented a preliminary study of a translational parallel manipulator (PM) based on the use of the Pa2 pair: the 3-PPa2 that contains redundant constraints in its global structure. To study the potentiality of the PM presented in this paper, the following analyses will be done: position and velocity (direct and inverse kinematics), workspace and singularity analysis. Also the potentiality to be optimised will be studied. |
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