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Advances in Robot Kinematics: Motion in Man and Machine pp 73–80Cite as

Mechanical Generators of 2-DoF Translation along a Ruled Surface

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Abstract

The theorem that any subset of translations is normal or invariant by conjugation in the group of a spatial 3-DoF translation is applied to the synthesis of a novel type of parallel manipulators, which generate 2-DoF translation along a ruled helicoid. A parallel manipulator generating 2-DoF translation along a revolute hyperboloid of one sheet is a special case. The revolute onesheet hyperboloid is a doubly ruled surface. The double geometric generation of that hyperboloid by the rotation of a straight line is further exploited and leads to more architectural types of parallel manipulators, which produce 2-DoF translation of the end-effector.

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Author information

Authors and Affiliations

  1. National Kaohsiung University of Applied Sciences, Taiwan, R.O.C.

    Chung-Ching Lee

  2. Ecole Centrale Paris, Paris, France

    Jacques M. Hervé

Authors
  1. Chung-Ching Lee
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  2. Jacques M. Hervé
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Correspondence to Chung-Ching Lee .

Editor information

Editors and Affiliations

  1. Inst. J. Stefan, University Ljubljana, Ljubljana, Slovenia

    Jadran Lenarcic

  2. , Aerospace and Mechanical Engineering, University of Notre Dame, Fitzpatrick Hall 365, Notre Dame, 46556-5637, USA

    Michael M. Stanisic

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Lee, CC., Hervé, J.M. (2010). Mechanical Generators of 2-DoF Translation along a Ruled Surface. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_8

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  • DOI: https://doi.org/10.1007/978-90-481-9262-5_8

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-9261-8

  • Online ISBN: 978-90-481-9262-5

  • eBook Packages: EngineeringEngineering (R0)

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