Kinematic analysis of HALF parallel robot

被引：0

作者：

Amine S. ^{[1
]}

Hanna E.G. ^{[1
]}

机构：

[1] Department of Mechanical Engineering, Beirut Arab University, P.O. Box 11-5020, Riad El Solh, Beirut

来源：

Journal of Engineering Science and Technology Review | 2019年 / 12卷 / 05期

关键词：

Lower mobility; Parallel mechanism; Robot kinematics; Screw theory;

D O I：

10.25103/jestr.125.23

中图分类号：

学科分类号：

摘要：

In the present study, the kinematics of a class of parallel manipulators with two translational and one rotational degrees-offreedom are addressed through the analysis of HALF robot. A detailed kinematic and constraint analysis of the robot is conducted. In addition, an exhaustive singularity characterization is presented with interpretation of the robot's behavior in singular poses. The implications of this study will initiate further investigations on the design of parallel manipulators belonging to the class of manipulators under consideration. © 2019 School of Science, IHU. All rights reserved.

引用

页码：207 / 213

页数：6

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