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Evaluation of a Cartesian Parallel Manipulator

  • Han Sung Kim
  • Lung-Wen Tsai
Chapter

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.

Keywords

Orthogonal arrangement decoupled motion Cartesian manipulator stiffness mapping 

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Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • Han Sung Kim
    • 1
  • Lung-Wen Tsai
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of CaliforniaRiversideUSA

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