KINEMATICS AND KINETOSTATICS ANALYSIS OF THE 3-DOF PARALLEL CUBE-MANIPULATOR

摘要

Recursive matrix relations for kinematics and kinetostatics of a 3-DOF parallel Cube- manipulator having three prismatic actuators are established in this paper. The concurrent actuators are arranged according to the Cartesian coordinate system with fixed orientation, which means that the actuating directions are normal to each other. Three identical legs connecting to the moving platform are located on three planes being perpendicular to each other too. For such reason this type of mechanism is called Cube-manipulator. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the positions, velocities and accelerations of the manipulator. Further, the principle of virtual work is used in the kinetostatics analysis. Some matrix equations offer compact expressions and graphs for the forces of the three actuators.