NOVEL DESIGN OF A 3T2R 5-DOF PARALLEL MANIPULATOR

被引：0
|
作者：
Yang, Zhongxing [1 ]
Zhang, Dan [1 ]
机构：
[1] York Univ, Toronto, ON, Canada
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2019, VOL 5B | 2020年
基金：
加拿大自然科学与工程研究理事会;
关键词：
WORKSPACE;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A novel 5-DOF 3T2R parallel manipulator is designed with chains in perpendicular planes. The synthesis is based on motion sets intersection and disseminated Chebychev-Grubler-Kutzbach formula. A boundary offset method is developed to detect link interference. Multi-objective optimization is practiced on the design for improved performances. Stiffness based on oriented platform coordinate is developed. This paper also discusses the potential applications of the design.
引用
收藏
页数：10
相关论文
共 50 条
  • [1] Velocity and Singularity Analysis of a 5-DOF (3T2R) Parallel-Serial (Hybrid) Manipulator
    Laryushkin, Pavel
    Antonov, Anton
    Fomin, Alexey
    Essomba, Terence
    MACHINES, 2022, 10 (04)
  • [2] Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel-serial (hybrid) manipulator
    Antonov, Anton
    Fomin, Alexey
    Glazunov, Victor
    Kiselev, Sergey
    Carbone, Giuseppe
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2021, 18 (02):
  • [3] Kinematics,Stiffness and Singularity Analysis of 3T2R 5-DOF Parallel Robot Mechanism
    Guo, Qiang
    Cui, Guohua
    Zhang, Fan
    Liu, Jian
    Cheng, Zhenyi
    2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 758 - 763
  • [4] Statics Analysis of a Novel 5-DOF Parallel Manipulator
    Li, Yanbiao
    Ji, Shiming
    Wang, Zhongfei
    Zhang, Li
    Wang, Yangyu
    DIGITAL DESIGN AND MANUFACTURING TECHNOLOGY, PTS 1 AND 2, 2010, 102-104 : 311 - 315
  • [5] Force analysis of a novel 5-DOF fully parallel manipulator
    Peng, Binbin
    Gao, Feng
    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2, 2007, : 683 - 688
  • [6] Dynamics analysis of a novel 5-DoF 3SPU+2SPRR type parallel manipulator
    Lu, Yi
    Liu, Yang
    Ye, Nijia
    ADVANCED ROBOTICS, 2016, 30 (09) : 595 - 607
  • [7] Design of a novel 5-DOF hybrid serial-parallel manipulator and theoretical analysis of its parallel part
    Zhang Dongsheng
    Xu Yundou
    Yao Jiantao
    Zhao Yongsheng
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2018, 53 : 228 - 239
  • [8] Jacobian analysis of symmetrical 5-DOF 3R2T parallel mechanisms
    Zhejiang Sci.-Technol. University, Hangzhou 310018, China
    Zhongguo Jixie Gongcheng, 2008, 14 (1731-1735):
  • [9] Parameter sensitivity analysis of a 5-DoF parallel manipulator
    Lian, Binbin
    Sun, Tao
    Song, Yimin
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2017, 46 : 1 - 14
  • [10] An approach to solving the forward kinematics of the 5-RPUR (3T2R) parallel manipulator
    Gallardo-Alvarado, Jaime
    Garcia-Murillo, Mario A.
    Aguilera-Camacho, Luis D.
    Alcaraz-Caracheo, Luis A.
    Sandoval-Castro, X. Yamile
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2023, 37 (03) : 1443 - 1453
12345