Design and Analysis of a Novel Planar Translational Parallel Robotic Mechanism with Three Limbs

被引：1
|
作者：
Chen, Z. H. [1 ]
Zhang, Y. B. [1 ]
Wang, K. M. [1 ]
机构：
[1] Henan Univ Sci & Technol, Sch Mechatron Engn, Luoyang 471003, Peoples R China
来源：
2019 3RD INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE APPLICATIONS AND TECHNOLOGIES (AIAAT 2019) | 2019年 / 646卷
关键词：
KINEMATICS;
D O I：
10.1088/1757-899X/646/1/012004
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A novel planar translational parallel robotic mechanism with three limbs is designed. The degree of freedom (DOF) and output characteristics of mechanism are studied based on the screw theory. The mathematic models including position, velocity and acceleration are derived according to different forms of the actuated inputs. When the linear displacements of two cylindrical joints are selected as the actuated inputs, the velocity Jacobian is an identity matrix and the mechanism has fully isotropic kinematics characteristics. Singularity of the mechanism is discussed and all singular configurations are explored. Finally, kinematics simulation of the mechanism is carried out by ADMAS and MATLAB software, and the kinematic curves are drawn.
引用
收藏
页数：7
相关论文
共 50 条
  • [31] Input Rationality Analysis of Three Degree of freedom Parallel Mechanism with Limbs of Embedding Structures
    Yang, Gaowei
    Zhang, Jianjun
    Li, Weimin
    Qi, Kaicheng
    MECHANICAL SCIENCES, 2019, 10 (01) : 343 - 353
  • [32] Analysis and Simulation of Velocity and Acceleration Based on Three-translational Parallel Mechanism
    Xu, Dongtao
    Sun, Zhili
    Du, Yongying
    MATERIALS AND MANUFACTURING, PTS 1 AND 2, 2011, 299-300 : 940 - 944
  • [33] Design methodology for a novel planar three degrees of freedom parallel machine tool
    Wang, JS
    Tang, XQ
    Duan, GH
    Li, JF
    2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2001, : 2448 - 2453
  • [34] Criteria based analysis and design of three degree of freedom planar robotic manipulators
    Gao, F
    Guy, F
    Gruver, WA
    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 468 - 473
  • [35] Novel 3-DOF translational parallel mechanism and its position analysis
    Zhongguo Jixie Gongcheng, 2008, 2 (239-241+251):
  • [36] Synthesis, design, and prototyping of a planar three degree-of-freedom reactionless parallel mechanism
    Foucault, S
    Gosselin, CM
    JOURNAL OF MECHANICAL DESIGN, 2004, 126 (06) : 992 - 999
  • [37] Design and Kinematic Analysis of a Novel Planar Parallel Robot With Pure Translations
    Zou, Qi
    Yi, Byung-Ju
    Zhang, Dan
    Shi, Yuancheng
    Huang, Guanyu
    IEEE ACCESS, 2024, 12 : 9792 - 9809
  • [38] Structural Design of Parallel Micro-vibration Platform Based on Three-translational Mechanism
    Hao, Xiuqing
    Cai, Kaiyun
    Xu, Zonggang
    Chen, Zhimin
    2009 IEEE 10TH INTERNATIONAL CONFERENCE ON COMPUTER-AIDED INDUSTRIAL DESIGN & CONCEPTUAL DESIGN, VOLS 1-3: E-BUSINESS, CREATIVE DESIGN, MANUFACTURING - CAID&CD'2009, 2009, : 690 - 694
  • [39] Kinematic Analysis and Simulation of the Translational Parallel Mechanism
    Xu Dong-tao
    Sun Zhi-li
    Shi Jia-lian
    ADVANCED MATERIALS RESEARCH, 2011, 213 : 43 - +
  • [40] Forward position analysis of a novel three DOF parallel mechanism
    Fang, HR
    Fang, YF
    Hu, M
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 2004, : 1219 - 1222
12345