Liu, H. T., Huang, Tian, Zhao, X. M., Mei, J. P. and Chetwynd, D. G. (2007) Optimal design of the TriVariant robot to achieve a nearly axial symmetry of kinematic performance. MECHANISM AND MACHINE THEORY, 42 (12). pp. 1643-1652. doi:10.1016/j.mechmachtheory.2006.12.001 ISSN 0094-114X.

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Abstract

This paper revisits the optimal kinematic design of a 3-DOF parallel mechanism that forms the main body of a 5-DOF reconfigurable hybrid robot named the TriVariant. The dimensional synthesis of the 3-DOF parallel mechanism is carried out by introducing a tilt structure angle that enables to achieve a nearly axial symmetry of kinematic performance with respect to the configuration when the properly constrained active limb is vertically or horizontally placed. The results are then compared with those of the Tricept robot via an example. It concludes that for the same task workspace the modified version of the TriVariant has a very similar kinematic performance to that of the Tricept provided that they both have similar dimensions. (c) 2006 Elsevier Ltd. All rights reserved.

Item Type:	Journal Article
Subjects:	T Technology > TJ Mechanical engineering and machinery
Journal or Publication Title:	MECHANISM AND MACHINE THEORY
Publisher:	PERGAMON-ELSEVIER SCIENCE LTD
ISSN:	0094-114X
Official Date:	December 2007
Dates:	Date Event December 2007 UNSPECIFIED
Volume:	42
Number:	12
Number of Pages:	10
Page Range:	pp. 1643-1652
DOI:	10.1016/j.mechmachtheory.2006.12.001
Publication Status:	Published

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