This paper introduces a new kinematic architecture called the hybrid kinematic machine. A hybrid kinematic machine typically consists of a position mechanism and an orientation mechanism that can be arranged in series or in parallel to achieve the notion of modular and reconfigurable machining centers. To demonstrate the concept, four parallel manipulators with translational motion characteristics have been identified. The kinematics of these mechanisms are described. Then, the well-conditioned workspace of each mechanism is maximized, and the stiffness properties are mapped. A comparison of the workspace volume and stiffness properties of these four mechanisms indicates that the 3-RUU manipulator appears to be the best design among the four architectures.
Skip Nav Destination
Article navigation
June 2002
Technical Papers
Kinematic Analysis of 3-DOF Position Mechanisms for Use in Hybrid Kinematic Machines
Lung-Wen Tsai,
Lung-Wen Tsai
Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521
Search for other works by this author on:
Sameer Joshi
Sameer Joshi
Department of Mechanical Engineering, Institute for Systems Research, University of Maryland, College Park, MD 20742
Search for other works by this author on:
Lung-Wen Tsai
Department of Mechanical Engineering, Bourns College of Engineering, University of California, Riverside, CA 92521
Sameer Joshi
Department of Mechanical Engineering, Institute for Systems Research, University of Maryland, College Park, MD 20742
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received April 2001. Associate Editor: M. Raghavan.
J. Mech. Des. Jun 2002, 124(2): 245-253 (9 pages)
Published Online: May 16, 2002
Article history
Received:
April 1, 2001
Online:
May 16, 2002
Citation
Tsai, L., and Joshi, S. (May 16, 2002). "Kinematic Analysis of 3-DOF Position Mechanisms for Use in Hybrid Kinematic Machines ." ASME. J. Mech. Des. June 2002; 124(2): 245–253. https://doi.org/10.1115/1.1468860
Download citation file:
Get Email Alerts
Related Articles
Position Analysis in Analytical Form of the 3-PSP Mechanism
J. Mech. Des (March,2001)
Closure to “Discussion of ‘Position Analysis in Analytical Form of the 3-PSP Mechanism’ ” (2001, ASME J. Mech. Des., 123 , p. 56)
J. Mech. Des (March,2001)
Related Proceedings Papers
Related Chapters
Accuracy-associated Models
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Accuracy of an Axis
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Infinitesimal Kinematics of Serial-kinematics Machines
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy