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
相关论文
共 50 条
  • [1] Kinematics of a new high precision three degree-of-freedom parallel manipulator
    Tahmasebi, Farhad
    [J]. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Vol 7, Pts A and B, 2005, : 939 - 947
  • [2] Kinematic Analysis of a Two Degree-of-freedom Parallel Manipulator
    Yan, Liang
    Chen, I-Ming
    Lim, Chee Kian
    [J]. 2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, 2008, : 1111 - 1116
  • [3] Inverse kinematics analysis for 6 degree-of-freedom modular manipulator
    Jiang H.-C.
    Liu S.-R.
    Zhang B.-T.
    [J]. Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science), 2010, 44 (07): : 1348 - 1354
  • [4] Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator
    Li, Bin
    Li, Yangmin
    Zhao, Xinhua
    [J]. MECHANISM AND MACHINE THEORY, 2016, 104 : 222 - 233
  • [5] Kinematics and dynamics of a 6 degree-of-freedom fully parallel manipulator with elastic joints
    Wang, SC
    Hikita, H
    Kubo, H
    Zhao, YS
    Huang, Z
    Ifukube, T
    [J]. MECHANISM AND MACHINE THEORY, 2003, 38 (05) : 439 - 461
  • [6] Singularity Analysis of the New Parallel Manipulator with 6 Degree-of-Freedom
    Baigunchekov, Zhumadil Zh
    Izmambetov, Myrzabay B.
    [J]. WORLD CONGRESS ON ENGINEERING, WCE 2010, VOL II, 2010, : 1472 - 1477
  • [7] TOWARD THE INVERSE KINEMATICS OF A 7 DEGREE-OF-FREEDOM MANIPULATOR
    LITVIN, FL
    SHAHEEN, MA
    TAN, J
    [J]. ROBOTERSYSTEME, 1989, 5 (04): : 238 - 246
  • [8] A heliostat based on a three degree-of-freedom parallel manipulator
    Shyam, R. B. Ashith
    Acharya, Mohit
    Ghosal, A.
    [J]. SOLAR ENERGY, 2017, 157 : 672 - 686
  • [9] Kinematic analysis of a novel three degree-of-freedom planar parallel manipulator
    Li, B.
    Zhao, J.
    Yang, X.
    Hu, Y.
    [J]. International Journal of Robotics and Automation, 2009, 24 (02): : 158 - 165
  • [10] KINEMATIC ANALYSIS OF A NOVEL THREE DEGREE-OF-FREEDOM PLANAR PARALLEL MANIPULATOR
    Li, B.
    Zhao, J.
    Yang, X.
    Hu, Y.
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2009, 24 (02): : 158 - 165
12345