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Conceptual Design and Kinematic Analysis of a 1T2R Parallel ManipulatorPublished in Springer Science and Business Media B.V.
2023
Volume: 124 MMS
Pages: 127 - 137
Parallel kinematic machines (PKMs) whose moving platforms realises one-translational and two-axes rotation (1T2R) motion pattern, find a wide variety of applications. However, a majority of the 1T2R PKMs suffer from singularities and parasitic motions. Higher dexterity requirements further constrict its already limited workspace volume. This paper introduces a novel 1T2R parallel mechanism to address typical issues in dexterity, singularities, and parasitic motions. The mathematical modelling covers a comprehensive analytical inverse kinematics modelling. The analyses performed evaluate mobility, singularities, and dexterity of the mechanism. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
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About the journal
| Journal | Mechanisms and Machine Science |
|---|---|
| Publisher | Springer Science and Business Media B.V. |
| ISSN | 22110984 |
Authors (1)
Santhakumar Mohan- A Robust Motion Control Scheme of an Underwater Robot with Tiltable Thrusters
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