P-CUBE, A Decoupled Parallel Robot Only with Prismatic Pairs

A new 3-DOF translational parallel robot, named P-CUBE, is presented in this paper. This robot has decoupled motion in x, y and z axes, and employs only prismatic pairs. The structure and kinematics of the robot are studied, which shows there exist rotational redundant constraints to the moving plat...

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Bibliographic Details
Published in2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications pp. 1 - 4
Main Authors Li, Weimin, Zhang, Jianjun, Gao, Feng
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2006
Subjects
Actuators
Computational geometry
Couplings
decoupled motion
Design methodology
Industry applications
Kinematics
Leg
Manipulator dynamics
P-CUBE
Parallel robots
redundant constraints
Service robots
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ISBN9780780397217
0780397215
DOI10.1109/MESA.2006.297001

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Summary:A new 3-DOF translational parallel robot, named P-CUBE, is presented in this paper. This robot has decoupled motion in x, y and z axes, and employs only prismatic pairs. The structure and kinematics of the robot are studied, which shows there exist rotational redundant constraints to the moving platform. Some modified structures to avoid the overconstrained situation are also introduced. This machine is suitable for heavy load and has high rigidity, which shows its potential in industry applications
ISBN:9780780397217
0780397215
DOI:10.1109/MESA.2006.297001