A Comparison Study on Motion/Force Transmissibility of Two Typical 3-DOF Parallel Manipulators: The Sprint Z3 and A3 Tool Heads

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...

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Bibliographic Details
Main Authors: Xiang Chen, Xin-Jun Liu, FuGui Xie, Tao Sun
Format: Article
Language:English
Published: SAGE Publishing 2014-01-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/57458
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spelling doaj-2ea8a7c973434b2aa860d3b1d8e6b86b2020-11-25T03:24:07ZengSAGE 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
collection DOAJ
language English
format Article
sources DOAJ
author Xiang Chen
Xin-Jun Liu
FuGui Xie
Tao Sun
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
author_facet Xiang Chen
Xin-Jun Liu
FuGui Xie
Tao Sun
author_sort Xiang Chen
title 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_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_sort comparison study on motion/force transmissibility of two typical 3-dof parallel manipulators: the sprint z3 and a3 tool heads
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2014-01-01
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.
url https://doi.org/10.5772/57458
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