This paper addresses the design issue of a three-axis tool head with three-PRS parallel kinematics (P, R, and S standing for prismatic, revolute, and spherical joint, respectively) by considering their orientation capability and motion/force transmission. The content presented here is actually an improvement on the dimensional optimization of articulated tool heads with parallel kinematics, with emphasis on the three-PRS design to solve the problem of orientational capability. An index that can evaluate the effectiveness of the motion/force transmission is introduced. The orientation capability with which the mechanism has high motion/force transmission capability is then defined. The procedure searching the link lengths with which the mechanism has a high orientation capability and good effectiveness of motion/force transmission is finally presented.
Skip Nav Destination
e-mail: xinjunliu@mail.tsinghua.edu.cn
Article navigation
April 2010
Research Papers
Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics
Xin-Jun Liu,
Xin-Jun Liu
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
e-mail: xinjunliu@mail.tsinghua.edu.cn
Tsinghua University
, Beijing 100084, China
Search for other works by this author on:
Li-Ping Wang,
Li-Ping Wang
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
Search for other works by this author on:
Fugui Xie,
Fugui Xie
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
Search for other works by this author on:
Ilian A. Bonev
Ilian A. Bonev
Department of Automated Manufacturing Engineering,
École de technologie supérieure
, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, Canada
Search for other works by this author on:
Xin-Jun Liu
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, Chinae-mail: xinjunliu@mail.tsinghua.edu.cn
Li-Ping Wang
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
Fugui Xie
Department of Precision Instruments, State Key Laboratory of Tribology and Institute of Manufacturing Engineering,
Tsinghua University
, Beijing 100084, China
Ilian A. Bonev
Department of Automated Manufacturing Engineering,
École de technologie supérieure
, 1100 Notre-Dame Street West, Montreal, QC H3C 1K3, CanadaJ. Manuf. Sci. Eng. Apr 2010, 132(2): 021009 (8 pages)
Published Online: March 31, 2010
Article history
Received:
October 21, 2008
Revised:
January 29, 2010
Online:
March 31, 2010
Published:
March 31, 2010
Citation
Liu, X., Wang, L., Xie, F., and Bonev, I. A. (March 31, 2010). "Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics." ASME. J. Manuf. Sci. Eng. April 2010; 132(2): 021009. https://doi.org/10.1115/1.4001244
Download citation file:
Get Email Alerts
Related Articles
Analysis and Application of a 2-DOF Planar Parallel Mechanism
J. Mech. Des (April,2007)
Orientation Capability, Error Analysis, and Dimensional Optimization of Two Articulated Tool Heads With Parallel Kinematics
J. Manuf. Sci. Eng (February,2008)
Optimal Synthesis of a Planar Reactionless Three-Degree-of-Freedom Parallel Mechanism
J. Mechanisms Robotics (November,2011)
Design and Optimization of a Mechanism for Out-of-Plane Insect Winglike Motion With Twist
J. Mech. Des (July,2005)
Related Chapters
Infinitesimal Mechanics of the PKMs
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution