This paper addresses the design issue of a three-axis tool head with three-PRS parallel kinematics (P, R, and S standing for prismatic, revolute, and spherical joint, respectively) by considering their orientation capability and motion/force transmission. The content presented here is actually an improvement on the dimensional optimization of articulated tool heads with parallel kinematics, with emphasis on the three-PRS design to solve the problem of orientational capability. An index that can evaluate the effectiveness of the motion/force transmission is introduced. The orientation capability with which the mechanism has high motion/force transmission capability is then defined. The procedure searching the link lengths with which the mechanism has a high orientation capability and good effectiveness of motion/force transmission is finally presented.
Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics
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Liu, X., Wang, L., Xie, F., and Bonev, I. A. (March 31, 2010). "Design of a Three-Axis Articulated Tool Head With Parallel Kinematics Achieving Desired Motion/Force Transmission Characteristics." ASME. J. Manuf. Sci. Eng. April 2010; 132(2): 021009. https://doi.org/10.1115/1.4001244
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