Practical feasibility of a high-precision 3-UPU parallel mechanism. Issue 3 (May 2014)

• Record Type: Journal Article
• Authors: Bhutani, Gaurav; Dwarakanath, T. A.
• Is Part Of: Robotica. Volume 32:Issue 3(2014)
• Page Start: 341
• Page End: 355
• Publication Date: 2014-05
• Subjects: Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574713000696
• Languages: English
• ISSNs: 0263-5747

Abstract

<abstract abstract-type="normal"> <title>SUMMARY</title> <p>In this paper, we revisit the 3-degrees of freedom (DOF) pure translational mechanism. The mathematical model and the design considerations are discussed. A detailed sensitivity and error analysis is carried out and the results are discussed in a new perspective. The feasibility of the practical 3-DOF pure translational mechanism is established with novel design considerations to take care of theoretical mobility and geometrical constraints. We describe and validate the theoretical observations with stage-wise prototype models and experiments. The experimental results concur that all is well with 3-UPU in contrast to what is presented in refs. [6, 9, 10].</p> </abstract>