A THREE-DOF ROTATIONAL PARALLEL MANIPULATOR WITHOUT INTERSECTING AXES

被引：0
|
作者：
Chen, Ziming [1 ]
Liu, Jingfang [1 ]
Huang, Zhen [1 ]
机构：
[1] Yanshan Univ, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B | 2010年
关键词：
intersecting axes; 3-RPS; 3-DOF; rotational; MECHANISMS; 4-DOF;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
It is difficult to manufacture parallel manipulators (PMs) with multiple revolute joint axes intersecting at one point. These types include the 3-DOF spherical parallel manipulators (SPMs), the 4-DOF 3R1T and 2R2T PMs, the 5-DOF 3R2T PMs. This problem makes it hard to achieve the expected mobility of these PMs. In this paper, a 3-RPS cubic PM is studied which has three rotational freedoms and no intersecting axes. The orientation workspace of this PM is analyzed. Some discussions about the differences between the traditional SPMs and this PM are proposed. The results show that the 3-RPS cubic PM can achieve three rotational motions and has no intersecting axes.
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页码：1059 / 1067
页数：9
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