Kinematics, dynamics and construction of a planarly actuated parallel robot

被引：50

作者：

Ben-Horin, R

Shoham, M ^{[1
]}

Djerassi, S

机构：

[1] Technion Israel Inst Technol, Dept Mech Engn, IL-32000 Haifa, Israel

[2] RAFAEL, IL-31021 Haifa, Israel

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 1998年 / 14卷 / 02期

关键词：

parallel robots; kinematics; dynamics;

D O I：

10.1016/S0736-5845(97)00035-5

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Kinematic and dynamic analysis of a parallel robot consisting of three planarly actuated links, is presented in this paper. Coordinated motion of three planar motors, connected to three fixed-length links, produces a six-degrees-of-freedom motion of an output link. Its extremely simple design along with much larger work volume than the commonly used parallel robots make this high performance-to-simplicity ratio robot very attractive. Experimental model verifies the unique combination of large work volume and high accuracy of this robot. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：163 / 172

页数：10

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