A FORWARD AND REVERSE DISPLACEMENT ANALYSIS OF A 6-DOF IN-PARALLEL MANIPULATOR

被引：60
|
作者：
ALIZADE, RI [1 ]
TAGIYEV, NR [1 ]
DUFFY, J [1 ]
机构：
[1] UNIV FLORIDA,DEPT MECH ENGN,CTR INTELLIGENT MACHINES & ROBOT,GAINESVILLE,FL 32611
来源：
MECHANISM AND MACHINE THEORY | 1994年 / 29卷 / 01期
关键词：
Kinematics;
D O I：
10.1016/0094-114X(94)90024-8
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A kinematic analysis of a 6 degree of freedom (DOF) parallel manipulator which has three legs, mounted on moving sliders is described. Therefore, the 6 DOF are provided by the slider displacements and by changing the leg lengths. This manipulator structure provides a large functional workspace. A forward displacement analysis is performed by using a decomposition method and reduces to the one non-linear equation solution by using an interaction method. Two distinct reverse displacement analyses are given. A manipulator workspace determination and a method for the specification of the platform position in space.
引用
收藏
页码：115 / 124
页数：10
相关论文
共 50 条
  • [21] A nonlinear friction compensation method using adaptive control and its practical application to an in-parallel actuated 6-DOF manipulator
    Ryu, JH
    Song, J
    Kwon, DS
    CONTROL ENGINEERING PRACTICE, 2001, 9 (02) : 159 - 167
  • [22] KINEMATICS AND WORKSPACE ANALYSIS FOR A 6-DOF PARALLEL MANIPULATOR WITH COAXIAL CTUATED ARMS
    Laski, P. A.
    ENGINEERING MECHANICS 2017, 2017, : 586 - 589
  • [23] Stiffness modeling and optimization analysis of a novel 6-dof collaborative parallel manipulator
    Liu, Yao
    Li, Bing
    Xu, Peng
    Huang, Hailin
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2014, 8918 : 60 - 71
  • [24] Stiffness Modeling and Optimization Analysis of a Novel 6-DOF Collaborative Parallel Manipulator
    Liu, Yao
    Li, Bing
    Xu, Peng
    Huang, Hailin
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2014, PT II, 2014, 8918 : 60 - 71
  • [25] Forward Displacement Analysis of a Parallel Manipulator
    Huang Xiguang
    HIGH PERFORMANCE STRUCTURES AND MATERIALS ENGINEERING, PTS 1 AND 2, 2011, 217-218 : 1061 - 1065
  • [26] Modeling of a 6-DOF Parallel Manipulator Driven by Pneumatic Muscles
    Meng, Deyuan
    Wei, Wei
    Tang, Chaoquan
    Wang, Weiping
    Ding, Xingwang
    2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2017, : 688 - 692
  • [27] Development and evaluation of miniaturized 6-DOF parallel link manipulator
    Kobayashi, Ryujiro
    Tsuboi, Ryo
    Sasaki, Shinya
    EMERGING TECHNOLOGY IN PRECISION ENGINEERING XIV, 2012, 523-524 : 756 - +
  • [28] DESIGN SYSTEM AND SIMULATION CONTROL OF THE 6-DOF PARALLEL MANIPULATOR
    Rattawut, Vongvit
    Tao, Zhu Hai
    ADVANCED MATERIALS DESIGN AND MECHANICS, 2012, 569 : 674 - 678
  • [29] Model-based Control for 6-DOF Parallel Manipulator
    Yang, Chifu
    Huang, Qitao
    He, Jingfeng
    Jiang, Hongzhou
    Han, Junwei
    2009 INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION, AND ROBOTICS, PROCEEDINGS, 2009, : 81 - 84
  • [30] Control of a 6-DOF parallel manipulator through a mechatronic approach
    Rosario, J. M.
    Dumur, D.
    Machado, J. A. T.
    JOURNAL OF VIBRATION AND CONTROL, 2007, 13 (9-10) : 1431 - 1446
12345