Affiliation:
1. Beijing Jiaotong University
Abstract
In this paper, a novel 3-degree-of-freedom (DOF) parallel manipulator that can perform three rotations around the remote centre is presented. The theory of screws and reciprocal screws is employed for the analysis of the geometric conditions. In particular, using circular guide to instead of R joints, so that has the advantage of enabling continuous 360° revolute around Z-axis. The inverse kinematics of mechanism is given and the workspace has a good performance. To compare with the machine constructed with traditional joints, it has the advantage of high rigidity and precision.
Publisher
Trans Tech Publications, Ltd.
Reference13 articles.
1. Cleary K, et al. Kinematics analysis of a novel 6-DOF parallel manipulator. In: Proc IEEE International Conference on Robotics and Automation, TX, USA, 708(1993).
2. Salcudean S E, et al. A six degree-of-freedom, hydraulic, one person motion simulator. In: Proc IEEE International Conference on Robotics and Automation, CA, USA, 2437(1994).
3. Kerr D R, Analysis, properties and design of Stewart platform transducer. Trans ASME, J Mech Transm Automn Des, 111: 25(1989).
4. Reboulet C, et al. Hybrid control of a 6-DOF in-parallel actuated mico-manipulator mounted on a scara robot. In: Proceedings of the International Symposium on Robotics and Manufacturing: Research, Education and Applications, Burnaby Canada, 293(1990).
5. Tsai L w. Multi-degree-of-freedom mechanisms for machine tools and the like: US, 5-656-905[p].
Cited by
6 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