Workspace analysis of a six-degrees of freedom, three-prismatic-prismatic-spheric-revolute parallel manipulator

被引：39

作者：

Majid, MZA ^{[1
]}

Huang, Z ^{[1
]}

Yao, YL ^{[1
]}

机构：

[1] Columbia Univ, Dept Mech Engn, New York, NY 10027 USA

来源：

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY | 2000年 / 16卷 / 06期

关键词：

parallel manipulator; Stewart platform; workspace;

D O I：

10.1007/s001700050176

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 studies the workspace of a six-degrees-of-freedom parallel manipulator of the general three-PPSR (prismatic-prismatic-spheric-revolute) type. It is known that a drawback of parallel manipulators is their limited workspace. To develop parallel mechanisms with a larger workspace is of use to potential applications. The mechanism of a three-PPSR manipulator and its variations are briefly analysed. The workspace is then investigated and the effects of joint limit and limb interference on the,workspace shape and size are numerically studied. The constituent regions of the workspace corresponding to different classes of manipulator poses are discussed. It is shown that the workspace of this parallel manipulator is larger than that of a comparable Stewart platform, especially in the vertical direction.

引用

页码：441 / 449

页数：9

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