Novel Design of a 3-DOF Parallel Manipulator for Materials Handling Conferences

abstract

• In this paper, a new design of a parallel manipulator is proposed for industrial applications, specifically for material surface finishing processes. Though most current parallel mechanisms have been based on the Stewart-Gough platform which has 6 degrees of freedom (DOF), the focus of this design is on a 3-DOF manipulator with one novel configuration. In order to benefit production, a parallel kinematic machine (PKM) capable of high speed industrial operations with high accuracy and rigidity is necessary. First, system modelling includes mobility study, inverse kinematic model, Jacobian matrix, singularity analysis and workspace calculation are conducted. Then, a CAD model is presented showing the optimum design features and detailed mechanics. Finally, finite element analysis is carried out for the device optimization.

authors

• Zhang, Dan
• Gao, Zhen
• Hu, XiaoLin
• Parise, Jason

status

• published 

publication date

• January 1, 2008

published in

• Volume 1: 34th Design Automation Conference, Parts A and B  Journal

presented at event

• ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference  Conference

keywords

• Engineering
• Engineering, Industrial
• Engineering, Mechanical
• Science & Technology
• Technology

Digital Object Identifier (DOI)

• 10.1115/detc2008-49188

International Standard Book Number (ISBN) 13

• 978-0-7918-4325-3

start page

• 719

end page

• 726