Kinematic analysis of HALF parallel robot

被引：0
|
作者：
Amine S. [1 ]
Hanna E.G. [1 ]
机构：
[1] Department of Mechanical Engineering, Beirut Arab University, P.O. Box 11-5020, Riad El Solh, Beirut
来源：
Journal of Engineering Science and Technology Review | 2019年 / 12卷 / 05期
关键词：
Lower mobility; Parallel mechanism; Robot kinematics; Screw theory;
D O I：
10.25103/jestr.125.23
中图分类号：
学科分类号：
摘要：
In the present study, the kinematics of a class of parallel manipulators with two translational and one rotational degrees-offreedom are addressed through the analysis of HALF robot. A detailed kinematic and constraint analysis of the robot is conducted. In addition, an exhaustive singularity characterization is presented with interpretation of the robot's behavior in singular poses. The implications of this study will initiate further investigations on the design of parallel manipulators belonging to the class of manipulators under consideration. © 2019 School of Science, IHU. All rights reserved.
引用
收藏
页码：207 / 213
页数：6
相关论文
共 50 条
  • [21] Kinematic Forward Solution Analysis of the 3-PRS Parallel Robot
    Huang, Junjie
    Kang, Jianli
    Zhao, Junwei
    FRONTIERS OF MANUFACTURING SCIENCE AND MEASURING TECHNOLOGY II, PTS 1 AND 2, 2012, 503-504 : 913 - +
  • [22] Design and kinematic analysis of the wire parallel mechanism for a robot pose measurement
    Jeong, JW
    Kim, SH
    Kwak, YK
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 2941 - 2946
  • [23] A Novel 3-DOF Parallel Robot and Its Kinematic Analysis
    Liu, Xiaobo
    Yuan, Xiaodong
    Wei, Xiaofeng
    Ni, Wei
    MACHINE DESIGN AND MANUFACTURING ENGINEERING III, 2014, : 759 - 763
  • [24] Kinematic Analysis of an Innovative Medical Parallel Robot Using Study Parameters
    Vaida, Calin
    Pisla, Doina
    Schadlbauer, Josef
    Husty, Manfred
    Plitea, Nicolae
    NEW TRENDS IN MEDICAL AND SERVICE ROBOTS: HUMAN CENTERED ANALYSIS, CONTROL AND DESIGN, 2016, 39 : 85 - 99
  • [25] Kinematic Analysis for a Prostate Biopsy Parallel Robot Using Study Parameters
    Birlescu, Iosif
    Tucan, Paul
    Gherman, Bogdan
    Vaida, Calin
    Crisan, Nicolae
    Radu, Corina
    Plitea, Nicolae
    Pisla, Doina
    COMPUTATIONAL KINEMATICS, 2018, 50 : 135 - 142
  • [26] KINEMATIC PERFORMANCE ANALYSIS FOR HEXAPOD MOBILE ROBOT USING PARALLEL MECHANISM
    Pan, Yang
    Gao, Feng
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2014, VOL 5A, 2014,
  • [27] Kinematic Analysis of a Meso-Scale Parallel Robot for Laser Phonomicrosurgery
    Lescano, Sergio
    Zlatanov, Dimiter
    Rakotondrabe, Micky
    Andreff, Nicolas
    INTERDISCIPLINARY APPLICATIONS OF KINEMATICS, 2015, 26 : 127 - 135
  • [28] Design and Kinematic Analysis of the Parallel Robot 4-DoF SCARA
    Annusewicz, Anna M.
    Laski, Pawel A.
    AUTOMATION 2018: ADVANCES IN AUTOMATION, ROBOTICS AND MEASUREMENT TECHNIQUES, 2018, 743 : 518 - 527
  • [29] Kinematic analysis and design of a 3-DOF translational parallel robot
    Mazare M.
    Taghizadeh M.
    Rasool Najafi M.
    International Journal of Automation and Computing, 2017, 14 (4) : 432 - 441
  • [30] Kinematic Analysis of Three-wire-driven Parallel (TWDP) Robot
    Yu, Tao
    Han, Qingkai
    MECHATRONICS AND INFORMATION TECHNOLOGY, PTS 1 AND 2, 2012, 2-3 : 302 - 307
12345