Structure synthesis of a class of 3-DOF rotational parallel manipulators

被引：112

作者：

Fang, YF ^{[1
]}

Tsai, LW

机构：

[1] No Jiaotong Univ, Dept Mech Engn, Beijing 100044, Peoples R China

[2] Univ Calif Riverside, Dept Mech Engn, Riverside, CA 92521 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 01期

关键词：

parallel manipulators; robot design; spherical motion; structural synthesis; theory of screws;

D O I：

10.1109/TRA.2003.819597

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The theory of reciprocal screws is used for the enumeration of the feasible limb structures of a class of 3-degree-of-freedom (DOF) rotational parallel manipulators. Geometric conditions for the moving platform to possess finite spherical motion are described. A table of feasible limbs that can be used for the construction of 3-DOF rotational parallel manipulators is developed.

引用

页码：117 / 121

页数：5

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