Kinematic Analysis of a Two Degree-of-freedom Parallel Manipulator

被引：0

作者：

Yan, Liang ^{[1
]}

Chen, I-Ming ^{[1
]}

Lim, Chee Kian ^{[1
]}

机构：

[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore

来源：

2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2 | 2008年

关键词：

arm structure; parallel mechanism;

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：

This paper presents a new design of two degree-of-freedom (2-DOF) non-symmetric parallel mechanism which can be employed as humanoid arm structure. Unlike conventional multi-DOF parallel mechanism, this design targets to reduce the number of actuators, and thus the total cost. The major feature of this mechanism is that it can move an end-effector in six-dimension (6D) space with only two motors, including three translational and three rotational motions. The forward, inverse kinematics as well as workspace of this parallel manipulator is analyzed and visualized. A prototype is developed and successfully implemented into the robotic lion dancing system as a humanoid arm structure.

引用

下载

页码：1111 / 1116

页数：6

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