Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial-parallel manipulator

被引：26
|
作者：
Lu, Yi [1 ]
Hu, Bo [1 ]
Sun, Tao [1 ]
机构：
[1] Yanshan Univ, Sch Mech Engn, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China
来源：
ROBOTICA | 2009年 / 27卷
关键词：
Parallel manipulators; Serial-parallel manipulator; Kinematics; Statics; Workspace; KINEMATIC ANALYSIS; HYBRID;
D O I：
10.1017/S0263574708004918
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The kinematics, statics, and workspace of a 2(3-SPR) serial-parallel manipulator (S-PM) are studied systematically in this paper. First, a 2(3-SPR) S-PM including an upper 3-SPR parallel manipulator (PM) and a lower 3-SPR PM is constructed, and the inverse/forward displacements, velocity, acceleration, and statics of the lower and upper 3-SPR PMs are studied, respectively. Second, the kinematics and statics of the lower and upper 3-SPR PMs are combined and the displacement, velocity, acceleration, and statics of a 2(3-SPR) S-PM are analyzed systematically. Third, a workspace of the 2(3-SPR) S-PM is constructed and analyzed. Finally, the analytic solved results are given and verified by the Simulation mechanism.
引用
收藏
页码：529 / 538
页数：10
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