Design and Kinematic Analysis of a 2-DoF Spatial Parallel Mechanism with Flexible Orientation Capability

被引：0
|
作者：
Chen, Jiakai [1 ]
Xie, Fugui [1 ,2 ]
Liu, Xin-Jun [1 ,2 ]
机构：
[1] Tsinghua Univ, Dept Mech Engn DME, State Key Lab Tribol & Tsinghua Univ DME Siemens, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Beijing Key Lab Precis Ultraprecis Mfg Equipments, Dept Mech Engn DME, Beijing 100084, Peoples R China
来源：
2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
D O I：
10.1109/cyber46603.2019.9066555
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Mechanisms with flexible orientation capability and compact structure have great application prospects in manufacturing equipment, flight simulator, airborne radar, and similar fields. In this paper, a two-degree-of-freedom (2-DoF) spatial parallel kinematic mechanism with three identical kinematic chains is presented. Due to the strong coupling property, its kinematic mechanism issues in terms of forward and inverse kinematics are fundamental to its practical application and thus have been investigated. Based on the kinematic analysis results, the orientation capability of the presented mechanism can reach 40 for an arbitrary azimuth angle. Benefitting from the parallel kinematic structure and coupling kinematics, the presented mechanism also has potential advantages of high stiffness and quick response.
引用
收藏
页码：770 / 774
页数：5
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