A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads
This paper presents a comparison study of two important three-degree-of-freedom (DOF) parallel manipulators, the Sprint Z3 head and the A3 head, both commonly used in industry. As an initial step, the inverse kinematics are derived and an analysis of two classes of limbs is carried out via screw the...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2014-01-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/57458 |
| _version_ | 1828750946366128128 |
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| author | Xiang Chen Xin-Jun Liu FuGui Xie Tao Sun |
| author_facet | Xiang Chen Xin-Jun Liu FuGui Xie Tao Sun |
| author_sort | Xiang Chen |
| collection | DOAJ |
| description | This paper presents a comparison study of two important three-degree-of-freedom (DOF) parallel manipulators, the Sprint Z3 head and the A3 head, both commonly used in industry. As an initial step, the inverse kinematics are derived and an analysis of two classes of limbs is carried out via screw theory. For comparison, three transmission indices are then defined to describe their motion/force transmission performance. Based on the same main parameters, the compared results reveal some distinct characteristics in addition to the similarities between the two parallel manipulators. To a certain extent, the A3 head outperforms the common Sprint Z3 head, providing a new and satisfactory option for a machine tool head in industry. |
| first_indexed | 2024-12-10T20:46:02Z |
| format | Article |
| id | doaj.art-2ea8a7c973434b2aa860d3b1d8e6b86b |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-10T20:46:02Z |
| publishDate | 2014-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-2ea8a7c973434b2aa860d3b1d8e6b86b2022-12-22T01:34:14ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-01-011110.5772/5745810.5772_57458A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool HeadsXiang Chen0Xin-Jun Liu1FuGui Xie2Tao Sun3 Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, PR China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Tsinghua University, Beijing, China School of Mechanical Engineering, Tianjin University, Tianjin, ChinaThis paper presents a comparison study of two important three-degree-of-freedom (DOF) parallel manipulators, the Sprint Z3 head and the A3 head, both commonly used in industry. As an initial step, the inverse kinematics are derived and an analysis of two classes of limbs is carried out via screw theory. For comparison, three transmission indices are then defined to describe their motion/force transmission performance. Based on the same main parameters, the compared results reveal some distinct characteristics in addition to the similarities between the two parallel manipulators. To a certain extent, the A3 head outperforms the common Sprint Z3 head, providing a new and satisfactory option for a machine tool head in industry.https://doi.org/10.5772/57458 |
| spellingShingle | Xiang Chen Xin-Jun Liu FuGui Xie Tao Sun A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads International Journal of Advanced Robotic Systems |
| title | A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads |
| title_full | A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads |
| title_fullStr | A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads |
| title_full_unstemmed | A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads |
| title_short | A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads |
| title_sort | comparison study on motion force transmissibility of two typical 3 dof parallel manipulators the sprint z3 and a3 tool heads |
| url | https://doi.org/10.5772/57458 |
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