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

页码：1111 / 1116

页数：6

共 50 条

[41] Design optimization of a spatial six degree-of-freedom parallel manipulator based on artificial intelligence approaches
Gao, Zhen
Zhang, Dan
Ge, Yunjian
[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2010, 26 (02) : 180 - 189
[42] Static Balancing and Dynamic Modeling of a Three-Degree-of-Freedom Parallel Kinematic Manipulator
Zhang, Dan
Gao, Feng
Hu, Xiaolin
Gao, Zhen
[J]. 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011,
[43] A novel relative degree-of-freedom criterion for a class of parallel manipulators with kinematic redundancy and its applications
Qu, Haibo
Guo, Sheng
Zhang, Ying
[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2017, 231 (22) : 4227 - 4240
[44] Kinematic analysis of seven-degree-of-freedom exoskeleton rehabilitation manipulator
Tang, Gang
Sheng, Jinqin
Wu, Chuan
Wang, Dongmei
Men, Shaoyang
[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2022, 19 (01)
[45] Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism
CHENG Gang
[J]. International Journal of Mining Science and Technology, 2007, (01) : 101 - 104
[46] Multi-model parallel tuning for two degree-of-freedom PID parameters
Qiu, YX
Xie, G
Xie, KM
[J]. ISTM/2005: 6TH INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, VOLS 1-9, CONFERENCE PROCEEDINGS, 2005, : 1162 - 1165
[47] Kinematic analysis of a Novel Three Degree of Freedom parallel mechanismaa
Huang, Xiuqin
Shen, Huiping
Xin, Xiumei
[J]. KEY ENGINEERING MATERIALS AND COMPUTER SCIENCE, 2011, 320 : 228 - +
[48] Two degree-of-freedom parallel mechanisms for high bandwidth vibration suppression and tracking
Carruthers, Dustin J.
O'Brien, John F.
[J]. ACTIVE AND PASSIVE SMART STRUCTURES AND INTEGRATED SYSTEMS 2011, 2011, 7977
[49] Kinematic comparison of single degree-of-freedom robotic gait trainers
Lee, Jeonghwan
Li, Lailu
Shin, Sung Yul
Deshpande, Ashish D.
Sulzer, James
[J]. MECHANISM AND MACHINE THEORY, 2021, 159
[50] Singularity and branch identification of a 2 degree-of-freedom (DOF) seven-bar spherical parallel manipulator
Nie, Liangyi
Ding, Huafeng
Kecskemethy, Andres
Gan, Jinqiang
Wang, Jun
Ting, Kwun-lon
[J]. MECHANICAL SCIENCES, 2020, 11 (02) : 381 - 393

← 1 2 3 4 5 →