A Six Degree of Freedom Epicyclic-Parallel Manipulator

被引：17
|
作者：
Chen, Chao [1 ]
Gayral, Thibault [1 ,2 ]
Caro, Stephane [2 ]
Chablat, Damien [2 ]
Moroz, Guillaume [2 ]
Abeywardena, Sajeeva [1 ]
机构：
[1] Monash Univ, Dept Mech & Aerosp Engn, Clayton, Vic 3800, Australia
[2] Inst Rech Commun & Cybernet Nantes, F-44321 Nantes 3, France
来源：
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2012年 / 4卷 / 04期
关键词：
parallel manipulator; epicyclic system; kinematics; workspace; SINGULARITY ANALYSIS; DESIGN; KINEMATICS; FAMILY; 6-DOF;
D O I：
10.1115/1.4007489
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete direct and inverse kinematics analysis provided. Further, the first and second links of each leg can be driven independently by two motors. The serial and parallel singularities of the system are determined, with an interesting feature of the system being that the parallel singularity is independent of the position of the end-effector. The workspace of the manipulator is also analyzed with future applications in haptics in mind. [DOI: 10.1115/1.4007489]
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页数：8
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