Design and Performance Analysis of a Novel Group of Translational Parallel Robots for a Three-Axis Grinding Machine

• DOI: 10.3390/electronics14030427
• Publication Date: 2025-01-22T10:50:53Z
• Authors: Qi Zou; Yuancheng Shi; Shuo Zhang; Haiqiang Zhang; Lijian Li; Guanyu Huang; Dan Zhang

There are limited parallel robots applicable to three-axis grinding machines due the restricted reachable workspace originating from multiple kinematic chains with spatial joints. The robot will gain significant potential in industry if a larger can be achieved. This research introduces special relationship between upper triangular matrix and structures for purpose of designing group novel without detailed inverse solution selected manipulator is derived accordance its straightforward architecture. Several singularity configurations found on basis first-order relation. translational close prism. dexterity stiffness performances based Jacobian explored chosen manipulator. Both indices display downward trend as mobile platform rises higher.