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The Tetrahedral Tripod

  • B. S. El-Khasawneh
  • P. M. Ferreira
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)

Abstract

The Tetrahedral-Tripod is a novel spatial, parallel-link manipulator that offers pure translational motion. In this paper we describe the ideas leading to the development of low degree-of-freedom parallel link mechanisms for use in machine tool applications. The tetrahedral tripod offers superior theoretical characteristics by admitting closed-form solutions for its kinematics and dynamics. Further, its motion and mechanical construction are simple while offering high stiffness and accuracy. It offers a relatively large, singularity-free workspace. It may be used as the basis of a 3-axis machine tool. When used in conjunction with a universal table, it offers the potential for a stiff and accurate 5-axis, series-parallel machine tool. Keywords. Parallel link manipulators, Stewart platform, Machine tools.

Keywords

Parallel link manipulators Stewart platform Machine tools 

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Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • B. S. El-Khasawneh
    • 1
  • P. M. Ferreira
    • 1
  1. 1.Department of Mechanical and Industrial EngineeringUniversity of Illinois at Urbana-ChampaignUrbanaUSA

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