Chapter 21: Translational Parallel Robots with Uncoupled Motions A Structural Synthesis Approach

Chapter 22: Design of New High Speed Machining Machines

Chapter 23: High Degree Accuracy Modelling and Calibration of Serial Robots with Large Errors

Chapter 24: Application of Image Analysis for the Study of Structural Modifications in Flowing Emulsions Theoretical Approach and Practical Application

Chapter 25: The Manufacture Technology of Tube Models by Selective Laser Sintering

Chapter 26: Mobile Robot System Controlled Through Mobile Communications

The paper presents a structural synthesis approach of translational parallel manipulators (TPMs) with uncoupled motions (UM) and revolute actuators (RA) situated on the fixed base (TPMs-UM-RA). Parallel robotic manipulators (PMs) show, in general, desirable characteristics like a large payload to robot weight ratio, considerable stiffness, low inertia and high dynamic performances. With respect to serial manipulators, disadvantages consist in a smaller workspace, complex command and a lower dexterity due to a high motion coupling and multiplicity of singularities inside their workspace. A TPM is a 3-DOM (degree of mobility) parallel mechanism whose output link, called platform, can achieve three independent orthogonal translational motions with respect to the fixed base. The manipulators presented in this paper have three legs connecting the moving platform and the base (fixed platform). Only one pair per leg is actuated and the motors are situated on the fixed base. Linear and revolute actuators can be used. Due to space limitations, in this...