A symmetric parallel Schonflies-motion manipulator for pick-and-place operations

被引：35

作者：

Altuzarra, O. ^{[1
]}

Sandru, B. ^{[1
]}

Pinto, Ch ^{[1
]}

Petuya, V. ^{[1
]}

机构：

[1] Univ Basque Country UPV EHU, Dept Mech Engn, Bilbao 48013, Spain

来源：

ROBOTICA | 2011年 / 29卷

关键词：

Lower-mobility parallel manipulator; Groups of displacements; Kinematic analysis; Workspace; Dexterity; DESIGN;

D O I：

10.1017/S0263574711000063

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new symmetric parallel Schonflies-motion generator. The design is an evolution of a previous robot with linear inputs. The complete kinematic analysis of the 4-degree-of-freedom (dof) parallel manipulator is presented. The degrees of freedom are obtained from the Group Theory, the direct and inverse position problems are solved obtaining the manipulator's workspace, and the Jacobian analysis is presented. Then the isotropic configurations of the manipulator are discussed and the local dexterity map within the workspace is produced. Finally, two alternatives of a rotational mechanical device, which will increase the angular end-effector range, are proposed.

引用

页码：853 / 862

页数：10

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