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

共 27 条

[21]

Tsai L. W., 1999, ROBOT ANAL MECH SERI

[22] Kinematic analysis of 3-DOF position mechanisms for use in hybrid kinematic machines [J].

Tsai, LW ;

Joshi, S .

JOURNAL OF MECHANICAL DESIGN, 2002, 124 (02) :245-253

[23] Kinematics and optimization of a spatial 3-UPU parallel manipulator [J].

Tsai, LW ;

Joshi, S .

JOURNAL OF MECHANICAL DESIGN, 2000, 122 (04) :439-446

[24]

Tsai LW, 1996, RECENT ADVANCES IN ROBOT KINEMATICS, P401

[25]

TSAI LW, 1996, P 1996 IEEE INT C RO, P3446

[26] Argos: A novel 3-DoF parallel wrist mechanism [J].

Vischer, P ;

Clavel, R .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2000, 19 (01) :5-11

[27]

Zlatanov D, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P496, DOI 10.1109/ROBOT.2002.1013408

← 1 2 3 →