Preparation structure synthesis of 5-DOF symmetrical parallel manipulator

被引：0
|
作者：
Fang Hairong [1 ]
Fang Yuefa [1 ]
Han Bin [1 ]
机构：
[1] Beijing Jiaotong Univ, Sch Mech & Elect Control Engn, Beijing 100044, Peoples R China
来源：
IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2006年
关键词：
parallel mechanisms; 5-DOF; symmetrical mechanisms; structure synthesis;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on screw theory, the relationship between motion screw system of limbs and constraint screw system of moving platform is analyzed, and the explicit expressions between constraint force screw of moving platform and motion screw of limbs are established. A method of structure synthesis for 5-DOF parallel manipulator is advanced. The conditions of kinematics pairs for limbs with one ZPW of constraint are derived. All possible of limbs of force constraints are obtained according to the formula. Finally, a 3R2T 5-DOF parallel manipulator is used as an example to describe the synthesis procedure for symmetrical and non-symmetrical 5-DOF parallel manipulators. The result of motion simulation analysis of the new manipulators proves the legitimacy of the method.
引用
收藏
页码：2336 / +
页数：3
相关论文
共 50 条
  • [31] Mechatronics modeling and vibration analysis of a 2-DOF parallel manipulator in a 5-DOF hybrid machine tool
    Wu, Jun
    Yu, Guang
    Gao, Ying
    Wang, Liping
    MECHANISM AND MACHINE THEORY, 2018, 121 : 430 - 445
  • [32] Dynamics analysis of a novel 5-DOF hybrid manipulator
    Li, Ruifeng
    Guo, Wanjin
    Cao, Chuqing
    Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2015, 43 : 32 - 36
  • [33] Erratum to: Inverse Kinematics of a 5-DOF Hybrid Manipulator
    A. V. Antonov
    A. S. Fomin
    Automation and Remote Control, 2023, 84 : 797 - 797
  • [34] VISION CONTROL OF 5-DOF MANIPULATOR FOR INDUSTRIAL APPLICATION
    Solyman, Ahmed
    Roman, Magdy
    Keshk, Afifi
    Sharshar, Karam
    INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2016, 12 (03): : 735 - 746
  • [35] Kinematics analysis of a novel 5-DOF hybrid manipulator
    State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nan Gang District, Harbin
    150001, China
    不详
    210094, China
    不详
    241007, China
    不详
    Int. J. Autom. Technol., 6 (765-774):
  • [36] A Novel Method of Dexterity Analysis for a 5-DOF Manipulator
    Guo, Wanjin
    Li, Ruifeng
    Cao, Chuqing
    Gao, Yunfeng
    JOURNAL OF ROBOTICS, 2016, 2016
  • [37] Type synthesis of 5-DOF parallel manipulators based on screw theory
    Kong, XW
    Gosselin, CM
    JOURNAL OF ROBOTIC SYSTEMS, 2005, 22 (10): : 535 - 547
  • [38] 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
  • [39] Topology design and kinematic optimization of cyclical 5-DoF parallel manipulator with proper constrained limb
    Wang, Panfeng
    Huo, Xinming
    Wang, Zhe
    ADVANCED ROBOTICS, 2017, 31 (04) : 204 - 219
  • [40] Jacobian analysis of symmetrical 5-DOF 3R2T parallel mechanisms
    Zhejiang Sci.-Technol. University, Hangzhou 310018, China
    Zhongguo Jixie Gongcheng, 2008, 14 (1731-1735):
12345