Kinematics Analysis of a four Degree-of-Freedom Parallel Manipulator

被引：0
|
作者：
Zhang, Chao [1 ,2 ]
Li, Bin [1 ,2 ,3 ]
Zhao, Xinhua [1 ,2 ]
Li, Yangmin [3 ]
机构：
[1] Tianjin Univ Technol, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin 300191, Peoples R China
[2] Tianjin Univ Technol, Natl Demonstrat Ctr Expt Mech & Elect Engn Educ, Tianjin, Peoples R China
[3] Univ Macau, Dept Electromech Engn, Ave Univ, Taipa, Macao, Peoples R China
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
MECHANISMS; DESIGN;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a 2-RPU&2-SPS parallel mechanism is studied. Firstly, the number and property of degrees of freedom of the mechanism are confirmed base on the screw theory, this mechanism can realize two rotational and two translational movement. Secondly, the position analyses are invested. For the inverse position analysis, the only expressions are obtained in an explicit form, and the forward position problem is solved by calculating a set of non-linear equation system. Then, the singularity analyses of the mechanism are acquired by Jacobian matrix of the parallel manipulator. Finally, the kinematic transmission performance analyses of the mechanism have been analyzed by defining transmission efficiency coefficient between limbs. This work will provide the theoretical basis for prototype development and application of the mechanism.
引用
收藏
页码：1731 / 1736
页数：6
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