The potential of the 3-UPU translational parallel manipulator and a procedure to select the best architecture

Chebbi, Ahmed Hachem (2011) The potential of the 3-UPU translational parallel manipulator and a procedure to select the best architecture, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Meccanica e scienze avanzate dell'ingegneria: progetto n. 3 "Meccanica applicata", 23 Ciclo. DOI 10.6092/unibo/amsdottorato/3576.
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The 3-UPU three degrees of freedom fully parallel manipulator, where U and P are for universal and prismatic pair respectively, is a very well known manipulator that can provide the platform with three degrees of freedom of pure translation, pure rotation or mixed translation and rotation with respect to the base, according to the relative directions of the revolute pair axes (each universal pair comprises two revolute pairs with intersecting and perpendicular axes). In particular, pure translational parallel 3-UPU manipulators (3-UPU TPMs) received great attention. Many studies have been reported in the literature on singularities, workspace, and joint clearance influence on the platform accuracy of this manipulator. However, much work has still to be done to reveal all the features this topology can offer to the designer when different architecture, i.e. different geometry are considered. Therefore, this dissertation will focus on this type of the 3-UPU manipulators. The first part of the dissertation presents six new architectures of the 3-UPU TPMs which offer interesting features to the designer. In the second part, a procedure is presented which is based on some indexes, in order to allows the designer to select the best architecture of the 3-UPU TPMs for a given task. Four indexes are proposed as stiffness, clearance, singularity and size of the manipulator in order to apply the procedure.

Tipologia del documento
Tesi di dottorato
Chebbi, Ahmed Hachem
Dottorato di ricerca
Scuola di dottorato
Ingegneria industriale
Settore disciplinare
Settore concorsuale
Parole chiave
parallel manipulator architecture singularity clearance stiffness
Data di discussione
19 Aprile 2011

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