Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane

被引：8
|
作者：
Fang, Hairong [1 ]
Fang, Yuefa [1 ]
Zhang, Ketao [1 ,2 ]
机构：
[1] Beijing Jiaotong Univ, Dept Mech Engn, Beijing, Peoples R China
[2] Univ London, Univ London Kings Coll, Ctr Robot Res, London SW3 6LX, England
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2013年 / 227卷 / C3期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Parallel manipulator; symmetric plane; kinematics; workspace; STRUCTURAL SYNTHESIS; ROBOTS;
D O I：
10.1177/0954406212462947
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This article presents a novel 3-DOF parallel manipulator extracted from an origami fold in the context of mechanisms. The parallel manipulator consists of a base, a platform and four chain-legs that connect the platform to base through revolute joints. Each chain-leg contains a closed-loop sub-chain, which is spherical 6R linkage with symmetrical angle lengths. The geometry of the parallel manipulator is revealed according to the configuration design and specifics of the origami fold. This leads to unravelling of the symmetric plane which is determined by the common points of spherical 6R linkages in the four chain-legs. Based on geometric approach, the solutions for both inverse and forward kinematics are derived and the reachable workspace is then analyzed.
引用
收藏
页码：620 / 629
页数：10
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