Kinematics analysis of a novel over-constrained three degree-of-freedom spatial parallel manipulator

被引：34
|
作者：
Li, Bin [1 ,2 ]
Li, Yangmin [1 ,2 ]
Zhao, Xinhua [2 ]
机构：
[1] Univ Macau, Dept Electromech Engn, Fac Sci & Technol, Ave Univ, Taipa, Macau, Peoples R China
[2] Tianjin Univ Technol, Sch Mech Engn, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin 300384, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2016年 / 104卷
基金：
中国国家自然科学基金;
关键词：
Spatial parallel manipulators; Kinematic analysis; Workspace analysis; TRANSMISSION INDEX; DESIGN;
D O I：
10.1016/j.mechmachtheory.2016.06.003
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a novel over-constrained three degree-of-freedom (DOF) spatial parallel manipulator (SPM) is proposed. The architecture of the SPM is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic joints are considered to be actively actuated. Kinematics and performance of the SPM are studied systematically. Firstly, the structure characteristics and DOF of this SPM are analyzed based on screw theory. Secondly, both of the inverse and forward displacements are derived by analytic formulae. Then, the Jacobian matrix of the mechanism is derived. Thirdly, the workspace of the mechanism is obtained based on the forward position analysis. Finally, the performance analysis of the mechanism is analyzed by pressure angles between limbs and some conclusions are given. (C) 2016 Published by Elsevier Ltd.
引用
收藏
页码：222 / 233
页数：12
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