Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators-Reference-Cited by-同舟云学术

Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators

Published:2004-03-01 Issue:2 Volume:126 Page:301-306
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Jin Qiong¹,Yang Ting-Li²

Affiliation:

1. Department of Mechanical Engineering, Southeast University, Nanjing 210096, P. R. China

2. SINOPIC Jinling Petrochemical Corp., Nanjing 210037, P. R. China

Abstract

The kinematics decoupling for parallel manipulators is studied in this paper. Based on the topological structure characteristics of parallel mechanisms, the internal relationship between kinematics decoupling and basic kinematics chains is revealed, and the basic principle for structural synthesis of topologically decoupled mechanisms is put forward. Using this theory, a group of 3 degree-of-freedom (DOF) partially decoupled manipulators are synthesized. The expected kinematic outputs of these manipulators are 1-DOF translation and 2-DOF rotation, and motions along or about undesired directions do not exist. The kinematics analysis of a newly synthesized manipulator is discussed and the results indicate that the decoupling property of these architectures makes possible reaching real time control and path planning of parallel manipulators.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/126/2/301/5556484/301_1.pdf

Reference30 articles.

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