THE KINEMATICS OF A NEW PARALLEL ROBOT WITH SIX DEGREES OF FREEDOM AND THREE GUIDING KINEMATIC CHAINS OF THE PLATFORM

被引：0
|
作者：
Sabou, Carmen [1 ]
Plitea, Nicolae [1 ]
机构：
[1] Tech Univ Cluj Napoca, Dept Mech & Comp Programming, Memorandumului 28, RO-400114 Cluj Napoca, Romania
来源：
ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2011年 / 54卷 / 01期
关键词：
6-DOF parallel robot; design; kinematics; workspace; singularities;
D O I：
暂无
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
The paper presents a new parallel robot with six degrees of freedom and three guiding kinematic chains of the platform. The principal characteristic of the parallel robot is given by the position on the fixed base of all the six linear actuators. The inverse and direct kinematic problem, the workspace generated through a geometrical method, and the relationships for determining the singularities of the new parallel structure are presented. The robot can be used in assembly tasks or as a module for minimally invasive surgical systems.
引用
收藏
页码：205 / 214
页数：10
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