Abstract
The Tetrahedral-Tripod is a novel spatial, parallel-link manipulator that offers pure translational motion. In this paper we describe the ideas leading to the development of low degree-of-freedom parallel link mechanisms for use in machine tool applications. The tetrahedral tripod offers superior theoretical characteristics by admitting closed-form solutions for its kinematics and dynamics. Further, its motion and mechanical construction are simple while offering high stiffness and accuracy. It offers a relatively large, singularity-free workspace. It may be used as the basis of a 3-axis machine tool. When used in conjunction with a universal table, it offers the potential for a stiff and accurate 5-axis, series-parallel machine tool. Keywords. Parallel link manipulators, Stewart platform, Machine tools.
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© 1999 Springer-Verlag London Limited
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El-Khasawneh, B.S., Ferreira, P.M. (1999). The Tetrahedral Tripod. In: Boër, C.R., Molinari-Tosatti, L., Smith, K.S. (eds) Parallel Kinematic Machines. Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-4471-0885-6_30
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DOI: https://doi.org/10.1007/978-1-4471-0885-6_30
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1228-0
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