Abstract
This paper introduces a new methodology for the type synthesis of two degrees of freedom hybrid translational manipulators with identical legs. The type synthesis method is based upon screw theory. Three types of two degrees of freedom hybrid translational manipulators with two identical legs are identified based upon their wrench decomposition. Each leg of the manipulators is composed of a proximal module and a distal module mounted in series. The assembly conditions and the validity of the actuation scheme are also defined. Finally, some novel two degrees of freedom hybrid translational manipulators are synthesized with the proposed procedure.
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Notes
- 1.
This work has been partially funded by the French French National Project ANR 2011-BS3-006-01-ARROW (http://arrow.irccyn.ec-nantes.fr/)
- 2.
\(\xi _{\infty }\) denotes an infinite-pitch twist, namely, a pure translation.
- 3.
\(\zeta _{0}\) and \(\zeta _{\infty }\) denote a zero-pitch wrench (a pure force) and an infinite-pitch wrench (a pure moment), respectively.
- 4.
P stands for a prismatic joint and R stands for a revolute joint.
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Nurahmi, L., Caro, S., Briot, S. (2014). Type Synthesis of Two DOF Hybrid Translational Manipulators. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_28
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DOI: https://doi.org/10.1007/978-94-007-7214-4_28
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