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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| Published in | 2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications pp. 1 - 4 |
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| Main Authors | , , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE
01.08.2006
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| Subjects | |
| Online Access | Get full text |
| ISBN | 9780780397217 0780397215 |
| DOI | 10.1109/MESA.2006.297001 |
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| Abstract | 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 |
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| AbstractList | 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 |
| Author | Li, Weimin Zhang, Jianjun Gao, Feng |
| Author_xml | – sequence: 1 givenname: Weimin surname: Li fullname: Li, Weimin email: vmin@hebut.edu.cn organization: School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, P.R. China. phone: 86-22-60204224; fax: 86-22-26564224; e-mail: vmin@hebut.edu.cn – sequence: 2 givenname: Jianjun surname: Zhang fullname: Zhang, Jianjun email: zhjjun96@sina.com organization: School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, P.R. China. e-mail: zhjjun96@sina.com – sequence: 3 givenname: Feng surname: Gao fullname: Gao, Feng email: fengg@sjtu.edu.cn organization: School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, P.R. China. e-mail: fengg@sjtu.edu.cn |
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| Snippet | 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... |
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| SubjectTerms | Actuators Computational geometry Couplings decoupled motion Design methodology Industry applications Kinematics Leg Manipulator dynamics P-CUBE Parallel robots redundant constraints Service robots |
| Title | P-CUBE, A Decoupled Parallel Robot Only with Prismatic Pairs |
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