Design and experiment of a new translational parallel manipulator with large payload and high repeatability

Shi-Ta Lin,Sheng-Yuan Huang,Chao-Chieh Lan, Mahendran Chidambaram, Visweswaren Sivaramakrishnan

Mechanism and Machine Theory（2023）

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摘要

•Anew translational parallel manipulator with activeand passive revolute joints.•Revolute joints are structurally simpler and have an unlimited displacement range.•Revolute jointscan be preloaded to increase stiffness and eliminate clearance.•The manipulator has low compliance, large payload,and high repeatability.

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关键词

Translational parallel manipulator,Workspace analysis,Active and passive singularities,Compliance and stiffness matrices,Bearing stiffness,Pose repeatability

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