Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory

被引：207

作者：

Kong, XW ^{[1
]}

Gosselin, CM ^{[1
]}

机构：

[1] Univ Laval, Dept Mech Engn, Quebec City, PQ G1K 7P4, Canada

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

dependent joint group; inactive joint; screw theory; 3T1R parallel manipulator (3TIR-PM); type synthesis;

D O I：

10.1109/TRA.2003.820853

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

3T1R four-degrees-of-freedom (DOF) parallel manipulators (3T1R-PMs) are the parallel counterparts of the 4-DOF SCARA serial, robots. In a 3T1R-PM, the moving platform, can generate 3T1R motion (also, called Schonflies motion), which refers to a rotation about any axis. with a given direction in conjunction with 3-DOF translations. A method is proposed for the type synthesis of 3T1R-PMs based on screw theory. The wrench systems of a 3T1R parallel kinematic chain (3T1R -PKC) and its legs,are first analyzed. A general procedure is then proposed for the type synthesis of 3T1R-PMs. The type synthesis of legs for 3T1R-PKCs, the type synthesis of 3T1R-PKCs, as well as the selection of actuated joints of 3T1R-PMs, are dealt with in sequence. 3T1R-PKCs With and without inactive joints are synthesized. The phenomenon of dependent joint groups in a 3T1R-PKC is revealed for the first time, Several 3T1R-PMs with identical type of legs fire obtained.

引用

页码：181 / 190

页数：10

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