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| A new planar 3-DOF parallel mechanism with continuous 360-degree rotational capability
TaeWon Seo/Woosung In/Jongwon Kim
The Journal of Mechanical Science and Technology, vol. 23, no. 11, pp.3088-3094, 2009
Abstract : This paper presents a novel three degrees of freedom (3-DOF) planar parallel mechanism with a 360-degree rotational
capability, which can be used as a positioning device. A high rotational capability is necessary to reduce process
time and to apply the mechanism to various fields such as micro-machining and printed circuit board (PCB) depaneling.
The proposed mechanism has the advantage of a continuous rotational capability over existing planar parallel mechanisms
with limited rotation. The position and velocity kinematics are derived, and the singularities are analyzed based
on the Jacobian matrices. The workspace can be determined not to have a singularity inside, and the kinematic variables
for enlarging the singularity-free workspace are determined. The application example on the PCB depaneling
process is proposed for future work.
Keyword : Kinematics; Planar parallel mechanism; Rotational capability; Three degrees of freedom |
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