TY - JOUR
T1 - Design and analysis of CICABOT
T2 - A novel translational parallel manipulator based on two 5-bar mechanisms
AU - Ruiz-Torres, M. F.
AU - Castillo-Castaneda, E.
AU - Briones-Leon, J. A.
N1 - Funding Information:
This work was supported by the Instituto de Ciencia y Tecnologia del Distrito Federal (ICYT-DF), Ciudad de Mexico, project PIFUTP08-159.
PY - 2012/5
Y1 - 2012/5
N2 - This work presents the CICABOT, a novel 3-DOF translational parallel manipulator (TPM) with large workspace. The manipulator consists of two 5-bar mechanisms connected by two prismatic joints; the moving platform is on the union of these prismatic joints; each 5-bar mechanism has two legs. The mobility of the proposed mechanism, based on Gogu approach, is also presented. The inverse and direct kinematics are solved from geometric analysis. The manipulator's Jacobian is developed from the vector equation of the robot legs; the singularities can be easily derived from Jacobian matrix. The manipulator workspace is determined from analysis of a 5-bar mechanism; the resulting workspace is the intersection of two hollow cylinders that is much larger than other TPM with similar dimensions.
AB - This work presents the CICABOT, a novel 3-DOF translational parallel manipulator (TPM) with large workspace. The manipulator consists of two 5-bar mechanisms connected by two prismatic joints; the moving platform is on the union of these prismatic joints; each 5-bar mechanism has two legs. The mobility of the proposed mechanism, based on Gogu approach, is also presented. The inverse and direct kinematics are solved from geometric analysis. The manipulator's Jacobian is developed from the vector equation of the robot legs; the singularities can be easily derived from Jacobian matrix. The manipulator workspace is determined from analysis of a 5-bar mechanism; the resulting workspace is the intersection of two hollow cylinders that is much larger than other TPM with similar dimensions.
KW - 5-bar mechanism
KW - Mobility analysis
KW - Parallel manipulators
KW - Robot workspace
KW - Translational parallel manipulator
UR - http://www.scopus.com/inward/record.url?scp=84860498904&partnerID=8YFLogxK
U2 - 10.1017/S0263574711000646
DO - 10.1017/S0263574711000646
M3 - Artículo
SN - 0263-5747
VL - 30
SP - 449
EP - 456
JO - Robotica
JF - Robotica
IS - 3
ER -