New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs

被引：311

作者：

Gao, F ^{[1
]}

Li, WM

Zhao, XC

Jin, ZL

Zhao, H

机构：

[1] Hebei Univ Technol, Robot Res Ctr, Tianjin 300130, Peoples R China

[2] Yanshan Univ, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China

[3] Beijing Univ Aeronaut & Astronaut, Robot Res Inst, Beijing 100083, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 2002年 / 37卷 / 11期

关键词：

Stewart platform; parallel robots; mechanisms;

D O I：

10.1016/S0094-114X(02)00044-7

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, several types of composite pairs and new kinds of sub-chains (limbs or legs) with specific degrees of freedom are proposed. Based on the special Plucker coordinates for describing the displacement of the output link of a limb, the principle for design of structures of parallel robotic mechanisms is presented. And several new types of 2-, 3-, 4- and 5-DOF parallel robotic mechanisms are obtained. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：1395 / 1411

页数：17

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