Position Analysis of a Class of Translational Parallel Mechanisms

M. Zoppi, L.E. Bruzzone, and R.M. Molfino


Parallel robots, translational architectures, kinematics


The formulation of the forward position analysis of parallel kinematics mechanisms (PMs) is in most cases very complex. The authors propose a general explicit solution to the problem for a wide class of 3-DOF translational architectures, the tetrahedral mechanisms. The class gathers pure translational parallel mechanisms satisfying three hypotheses on geometry and mobility. No assumption is made about symmetry; the actuation can be redundant or nonredundant. Explanatory examples are discussed.

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