The potential of the 3-UPU topology for translational parallel manipulators and a procedure to select the best architecture for a given task
Keywords:
parallel manipulators, pure translation, architectures, singularity, topologyAbstract
The 3-UPU three degrees of freedom fully parallel manipulator, where U and P are for universal and prismatic pair respectively, is a very well known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation with respect to the base, according to the relative directions of the revolute pair axes. In particular, pure translational parallel 3-UPU manipulators (3-UPU TPMs) received great attention. However, much work has still to be done to reveal all the features this topology can offer to the designer when different architectures, i.e. different geometries, are considered. Therefore, this paper will focus on this type of the 3-UPU manipulators. The paper collects the previous most relevant work done on the 3-UPU TPMs and shows the main results in a coherent general frame. The paper presents new architectures of the 3-UPU TPMs which offer interesting features to the designer. Then, based on a number of indexes, a procedure is proposed that allows the designer to select the best architecture of the 3-UPU TPMs for a given task.
References
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