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Información general |
| Autor |
Zhang, Yanbin; Ting, Kwun-lon |
| Publicado |
InTech Open Access Publisher, 2013
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| ISBN |
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| Abstract |
A novel asymmetrical spatial parallel
manipulator with three degrees of freedom is
proposed. The moving platform of the manipulator has
two‐translational and one‐rotational (2T1R) DOFs with
respect to the fixed base. Two other manipulators with
platforms with high rotational ability are obtained by
making simple changes to the original manipulator’s
architecture. The platform of the new mechanisms can
rotate 360 degrees around their axis. The motion
output characteristics and the mobility of the
manipulator are analyzed based on the screw theory.
Solutions for position and pose, velocity, acceleration
are derived. The Jacobian matrix, mapping the input
velocity vector space into the output velocity vector
space, is an identical matrix, so the parallel mechanism
is free‐singularity and fully‐isotropic. Therefore, these
manipulators perform very well with regard to motion
and force transmission and have potential applications
in the field of industrial robots and medical devices. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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