Author:
Takeda Yukio, ,Kamiyama Kouji,Maki Yoshihisa,Higuchi Masaru,Sugimoto Koichi,
Abstract
We propose a new structure for spatial in-parallel actuated mechanisms with six degrees of freedom in which the output link’s position and orientation are decoupled. Number synthesis of the position submechanism, a partial mechanism for the position-orientation decoupled mechanism, was conducted, and fifteen mechanisms were clarified. Basic equations for kinematic analysis were derived for four of the obtained mechanisms, and procedures to analyze their forward/inverse displacement were investigated. Their workspaces and swing angles were numerically evaluated based on these equations. Experimental results using an experimental position-orientation decoupled mechanism were presented to support these theoretical results.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference12 articles.
1. C. Innocenti, and V. Parenti-Castelli, “Direct Kinematics of the 6-4 Fully Parallel Manipulator with Position and Orientation Uncoupled,” European Robotics and Intelligent Systems Conf., Corfou, June 23-28, 1991, pp. 3-10, 1991.
2. S. P. Patarinski, and M. Uchiyama, “Position/Orientation Decoupled Parallel Manipulators,” Proc. Int. Conf. Advanced Robotics, pp. 153-158, 1993.
3. S. P. Patarinski, and M. Uchiyama, “Analysis and Design of Position/Orientation Decoupled Parallel Manipulators,” Theory and Practice of Robots and Manipulators, Proc. RoManSy 10, pp. 219-224, 1995.
4. K. Wohlhart, “Displacement Analysis of the General Spherical Stewart Platform,” Mechanism and Machine Theory, Vol.29, No.4, pp. 581-589, 1994.
5. Z. J. Geng, and L. Haynes, “A “3-2-1” Kinematic Configuration of a Stewart Platform and Its Application to Six Degrees of Freedom Pose Measurements,” Robotics and Computer-Integrated Manufacturing, Vol.11, No.1, pp. 23-34, 1994.
Cited by
12 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献