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1、RoboticsandAutonomousSystems42(2003)3146Analysisofanovelcylindrical3-DoFparallelrobotJinsongWang,Xin-JunLiu?DepartmentofPrecisionInstruments,ManufacturingEngineeringInstitute,TsinghuaUniversity,Beijing100084,People’sRepublicofChinaReceived20October2001;receivedinrevisedform2Ju
2、ly2002CommunicatedbyF.C.A.GwenAbstractInthispaper,anovelthreedegreesoffreedom(DoFs),thataretwodegreesoftranslationalfreedomandonedegreeofrotationalfreedom,parallelrobotisproposed.Theparallelrobotconsistsofabaseplate,amovableplatform,andthreeconnectinglegs.Becausethelocusofanyp
3、ointonthemovingplatformisthesubsetofacylinderifzisspeci?ed,therobotiscalledacylindricalparallelrobot.Theinverseandforwardkinematicsproblemsaredescribedinclosedforms.Andthevelocityequationofthenewparallelrobotisgiven.Threekindsofsingularitiesarepresented.Theworkspacefortherobot
4、isanalyzedsystematically,especially,anewindextoevaluatethemobility(Inthispaper,mobilitymeansrotationalcapability.)ofthemovingplatformoftherobotisde?nedanddiscussedindetail.Theparallelrobothaswideapplicationinthe?eldsofindustrialrobots,simulators,microrobotsandparallelmachineto
5、ols.?2002ElsevierScienceB.V.Allrightsreserved.Keywords:Degreesoffreedom;Parallelrobot;Mobility;Workspace1.IntroductionsonofthesetwotypesofrobotsisdiscussedinmoredetailbyCoxandTesar[6].Thelastfewyearshavewitnessedanimportantde-Inthepasttwodecades,somestudieshaveledtovelopmentin
6、theuseofrobotsintheindustrialworld,theidenti?cationofseveralmechanicalarchitecturesmainlyduetotheir?exibility.However,themechan-withpotentialapplicationsinrobots.Hunt[7]pre-icalarchitectureofthemostcommonrobotsdoesnotsentedasystematicstudyofparallelmechanismsandseemadaptedtoce
7、rtaintasks.Othertypesofarchi-introducedmanygeometriesapplicabletorobotarms.tectureshavethereforerecentlybeenstudied,andareOthercon?gurationsforparallelrobotswithspeci-beingmoreandmoreregularlyusedwithintheindus-?ednumberandtypeofdegreesoffreedom(DoFs)trialworld[15].Thisissofor
8、theparallelrobots.Par-havealsobeenproposed.Behi[8]describeda6
