{"title":"3-5r平移并联机构实用工作空间","authors":"M. Tanabe, Y. Takeda, Syamsul Huda","doi":"10.1109/RAMECH.2008.4690890","DOIUrl":null,"url":null,"abstract":"In the present paper, we discussed about a kinamatic design of 3-5R translational parallel mechanism with a large utility workspace. We defined the utility workspace as a closed area, from any point to other points in which the mechanism can move without suffering from singularity and workspace boundary. A computational algorithm of the volume of the utility workspace was proposed. We discussed about the utility workspace of 3-5R translational parallel mechanisms having three types of chain with consideration of actuation and constraint singularities. We obtained a 3-RUU translational parallel mechanism with a large utility workspace.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"57 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Utility workspace of 3-5r translational parallel mechanism\",\"authors\":\"M. Tanabe, Y. Takeda, Syamsul Huda\",\"doi\":\"10.1109/RAMECH.2008.4690890\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In the present paper, we discussed about a kinamatic design of 3-5R translational parallel mechanism with a large utility workspace. We defined the utility workspace as a closed area, from any point to other points in which the mechanism can move without suffering from singularity and workspace boundary. A computational algorithm of the volume of the utility workspace was proposed. We discussed about the utility workspace of 3-5R translational parallel mechanisms having three types of chain with consideration of actuation and constraint singularities. We obtained a 3-RUU translational parallel mechanism with a large utility workspace.\",\"PeriodicalId\":320560,\"journal\":{\"name\":\"2008 IEEE Conference on Robotics, Automation and Mechatronics\",\"volume\":\"57 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-12-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 IEEE Conference on Robotics, Automation and Mechatronics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2008.4690890\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 IEEE Conference on Robotics, Automation and Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2008.4690890","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Utility workspace of 3-5r translational parallel mechanism
In the present paper, we discussed about a kinamatic design of 3-5R translational parallel mechanism with a large utility workspace. We defined the utility workspace as a closed area, from any point to other points in which the mechanism can move without suffering from singularity and workspace boundary. A computational algorithm of the volume of the utility workspace was proposed. We discussed about the utility workspace of 3-5R translational parallel mechanisms having three types of chain with consideration of actuation and constraint singularities. We obtained a 3-RUU translational parallel mechanism with a large utility workspace.
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