Abstract
This paper describes a new 3-DOF translational parallel manipulator named a Cartesian Parallel Manipulator (CPM). The machine behaves like a conventional X-Y-Z Cartesian machine due to the orthogonal arrangement of the three supporting limbs. It is shown that there exists a one-to-one correspondence between the input and output of the manipulator. Three possible arrangements of the Z actuator are evaluated by stiffness mapping. A method for compensating actuator misalignment is described.
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© 2002 Springer Science+Business Media Dordrecht
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Kim, H.S., Tsai, LW. (2002). Evaluation of a Cartesian Parallel Manipulator. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_3
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DOI: https://doi.org/10.1007/978-94-017-0657-5_3
Publisher Name: Springer, Dordrecht
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