DISTRIBUTION OF SOME PROPERTIES IN PHYSICAL MODEL OF THE SOLUTION SPACE OF 2-DOF PARALLEL PLANAR MANIPULATORS

被引：24

作者：

GAO, F

ZHANG, XQ

ZHAO, YS

ZU, WB

机构：

[1] Department of Mechanical Engineering, Robotics Research Center, University of Yanshan, Qinhuangdao, Hebei

来源：

MECHANISM AND MACHINE THEORY | 1995年 / 30卷 / 06期

关键词：

D O I：

10.1016/0094-114X(95)00004-I

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper uses the physical model of the solution space to investigate the relationships between some properties and link lengths of all the 2-DOF parallel planar manipulators (PPM). The properties include the singularities, the extreme values of the transmission angles, the maximum, minimum and range values of the position angles of input links. By the aid of computer, the values of the properties are calculated and the design charts of the properties are plotted in the physical model of the solution space of 2-DOF PPMs. The charts are very useful for designers.

引用

页码：811 / 817

页数：7

共 18 条

[1] A LINKAGE DESIGN FOR DIRECT-DRIVE ROBOT ARMS [J].