Analysis of instantaneous motions of deficient-rank 3-RPS parallel manipulators

被引：79
|
作者：
Huang, Z [1 ]
Wang, J
Fang, YF
机构：
[1] Yanshan Univ, Inst Mech Engn, Qinhuangdao 066004, Peoples R China
[2] No Jiaotong Univ, Inst Mech Engn, Beijing 100044, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2002年 / 37卷 / 02期
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1016/S0094-114X(01)00075-1
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, the instantaneous motions of a deficient-rank 3-DOF 3-RPS parallel-actuated manipulator are studied. Firstly, the Jacobian matrix of the mechanism is established by using the imaginary-mechanism method. The principal screws of a third-order screw system are identified by means of the conic section degenerating theory. All the pitches of twists of the end-effector are discussed under three different configurations of the mechanism. It is very important to know all the feasible instantaneous motions of a deficient-rank mechanism. The work presented in this paper has great significance for robot trajectory planning and control. (C) 2002 Published by Elsevier Science Ltd.
引用
收藏
页码：229 / 240
页数：12
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