A new 3 DOF spatial parallel mechanism

被引：76

作者：

Ceccarelli, M

机构：

[1] Dipto. di Ingegneria Industriale, Universitá di Cassino, 03043 Cassino (Fr)

来源：

MECHANISM AND MACHINE THEORY | 1997年 / 32卷 / 08期

关键词：

D O I：

10.1016/S0094-114X(97)00019-0

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper describes a new 3 D.O.F. parallel mechanism. The kinematic chain is composed of leg mechanisms containing articulated parallelograms and a peculiar connection with ball joints and prismatic guides has been utilised to obtain suitable direct kinematics and easy actuation. The engineering feasibility has been illustrated by investigating on the basic kinematic performances. Particularly, an analytical algorithm has been developed for displacement analysis which permits an easy workspace evaluation and path generation for trajectory and orientation capabilities. (C) 1997 Elsevier Science Ltd.

引用

页码：895 / 902

页数：8

共 14 条

[1]

AGRAWAL SK, 1995, ASME JUN, P343

[2]

CECCARELLI M, 1997, INT J ADV ROBOTICS, V11, P17

[3]

CECCARELLI M, 1994, ANAL INGENIERIA MECA, P37

[4]

CECCARELLI M, ROBOTIC MANUFACTURIN, V3, P161