Novel design solution to high precision 3 axes translational parallel mechanism
作者: Gaurav BhutaniT.A. Dwarakanath
作者单位: 1Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai 400085, India
刊名: Mechanism and Machine Theory, 2014, Vol.75 , pp.118-130
来源数据库: Elsevier Journal
DOI: 10.1016/j.mechmachtheory.2013.11.010
关键词: 3-DOF UPU mechanismModeling and designSensitivity analysisPrototype development
原始语种摘要: Abstract(#br)The paper presents a 3 degree of freedom UPU mechanism having an excellent practical feasibility. The mathematical model and the design considerations of the 3-UPU mechanism are discussed. A detailed sensitivity analysis is carried out and the results are discussed in a new perspective. A novel design solution for a high precision three axis translation parallel mechanism is presented. We describe and validate the theoretical observations with the prototype model. The capability of the 3-UPU mechanism in performing fine motion manipulation, high precision trajectory following and metrological measurement is demonstrated. The performances of the 3-UPU mechanism concur with the theoretical observations in contrast to what is presented in previous works.
全文获取路径: Elsevier  (合作)
影响因子:1.214 (2012)