Design and application of a new 3-DOF translational parallel manipulator

2007 IEEE Workshop on Advanced Robotics and Its Social Impacts Pub Date : 2007-12-01 DOI:10.1109/ARSO.2007.4531432

Yangmin Li, Qingsong Xu

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引用次数: 8

Abstract

A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) constructed only with prismatic (P), cylindrical (C), revolute (R) joints has been proposed in this paper. The mobility of the 3-PCR TPM is analyzed via screw theory. Afterwards, the inverse kinematics, forward kinematics, and velocity analysis are performed and the singularity problems are investigated. In addition, the reachable workspace has been determined analytically and compared with and without consideration of mechanical constraints. It is shown that the 3-PCR TPM owns a smaller size output platform than the existing 3-PRC one, and then has more wide applications. In view of applications, the 3-PCR TPM is adopted as a CPR (cardiopulmonary resuscitation) medical robot, and another new 3-PCR TPM with an orthogonal architecture is presented and its application in micro/nano scale manipulation has been exhibited through the employment into an automatic biological cell injection system. The results presented in the paper are helpful for the design and development of several new TPMs for various applications.

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新型三自由度平移并联机构的设计与应用

提出了一种仅由移动关节(P)、圆柱关节(C)、转动关节(R)构成的新型三自由度平移并联机器人(TPM)。利用螺旋理论分析了3-PCR TPM的迁移率。然后进行了运动学逆解、运动学正解和速度分析，并研究了奇异性问题。此外，分析确定了可达的工作空间，并在考虑机械约束和不考虑机械约束的情况下进行了比较。结果表明，与现有的3-PRC TPM相比，3-PCR TPM具有更小的输出平台，具有更广泛的应用前景。在应用方面，采用3-PCR TPM作为CPR(心肺复苏)医疗机器人，提出了另一种新型正交结构的3-PCR TPM，并将其应用于生物细胞自动注射系统，展示了其在微纳操作中的应用。本文的研究结果对多种新型TPMs的设计和开发具有一定的指导意义。

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2007 IEEE Workshop on Advanced Robotics and Its Social Impacts

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