Kinematic Analysis of a Redundant Actuated Five Degrees of Freedom Parallel Mechanism

被引：0

作者：

Yin Xiaolong ^{[1
]}

Li Bin ^{[2
]}

Zhao Xinhua ^{[2
]}

机构：

[1] Tianjin Univ Technol, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin, Peoples R China

[2] Tianjin Univ Technol, Fac Natl Demonstrat Ctr Expt Mech & Elect Engn Ed, Tianjin 300384, Peoples R China

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2018年

关键词：

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

A 5 degree of freedom parallel mechanism with 6 branched redundant actuators is proposed. The mechanism is composed of 4 -SPS and 2-RPS kinematic branches. The mechanism can achieve three rotational and two translational motion. The performance of the forward and inverse kinematics, singularity and workspace, is analyzed, firstly, using the vector algebra method and Newton iteration method, the forward and inverse kinematics model were obtained from numerical solution and analytic solution; on this basis, get the Jacobian matrix of mechanism, and on the basis of the three kinds of performance parameters of matrix the singularity of the mechanism was analyzed; finally with the help of Monte Carlo method, obtaining the workspace of the mechanism. The related kinematic analysis will lay a theoretical foundation for the future study of the dynamics.

引用

页码：2031 / 2037

页数：7

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