Structure synthesis of 3r2t 5-DOF symmetrical parallel robot mechanisms

被引：0
|
作者：
Fang, HaiRong [1 ]
Fang, Yuefa [1 ]
Hu, ZhunQing [1 ]
Wang, Shuo [1 ]
机构：
[1] Beijing Jiaotong Univ, Sch Mech & Elect Control Engn, Beijing 100044, Peoples R China
来源：
DCABES 2006 PROCEEDINGS, VOLS 1 AND 2 | 2006年
关键词：
screw theory; robot; parallel mechanisms; structure synthesis;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Using screw theory, motion properties and constraint conditions for 5-DOF parallel manipulators structural platform is analyzed, and the relationship between screw and reciprocal screw of structural platform are established. All possible limbs of force constraints are derived, and structure synthesis for low -DOF parallel robot mechanisms is advanced. Finally, a parallel manipulator with 3-rotation-DOF and 2-translation-DOF is used as an example to describe the synthesis procedure for symmetrical and non-symmetrical 5-DOF parallel manipulators.
引用
收藏
页码：998 / 1001
页数：4
相关论文
共 50 条
  • [21] Velocity and Singularity Analysis of a 5-DOF (3T2R) Parallel-Serial (Hybrid) Manipulator
    Laryushkin, Pavel
    Antonov, Anton
    Fomin, Alexey
    Essomba, Terence
    MACHINES, 2022, 10 (04)
  • [22] TYPE SYNTHESIS OF 4-DOF & 5-DOF PARALLEL MECHANISMS CONSIDERING PASSIVE CONSTRAINING LIMBS
    Guo, Wentao
    Guo, Weizhong
    Gao, Feng
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2014, VOL 5B, 2014,
  • [23] Analysis of 5-DOF Parallel Driving Mechanisms and Their Position Resolution
    Zhang J.
    Shi H.
    Wang T.
    Huang Q.
    Jiang L.
    Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2021, 32 (12): : 1414 - 1422and1431
  • [24] Jacobian analysis of symmetrical 4-DOF 3R1T parallel mechanisms
    Li, Qinchuan
    Hu, Xudong
    Chen, Qiaohong
    Wu, Chuanyu
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2009, 45 (04): : 50 - 55
  • [25] Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures
    Fang, YF
    Tsai, LW
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (09): : 799 - 810
  • [26] Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery
    Pisla, Doina
    Gherman, Bogdan
    Vaida, Calin
    Plitea, Nicolae
    ROBOTICA, 2012, 30 : 1095 - 1107
  • [27] Design and Kinematics of a 5-DOF Parallel Robot for Beating Heart Surgery
    Ersoy, Onur
    Yildirim, Mehmet C.
    Ahmad, Awais
    Yirmibesoglu, Osman D.
    Koroglu, Nazli
    Bebek, Ozkan
    2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019), 2019, : 274 - 279
  • [28] Kinematic analysis of a new 5-DOF modular parallel robot for brachytherapy
    Plitea, Nicolae
    Szilaghyi, Andras
    Pisla, Doina
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2015, 31 : 70 - 80
  • [29] Dimensional Synthesis of a Novel Asymmetric 5-DOF Hybrid Robot
    Dong C.
    Liu H.
    Yang J.
    Zhongguo Jixie Gongcheng/China Mechanical Engineering, 2021, 32 (20): : 2418 - 2426
  • [30] Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms
    Bing-Shan Jiang
    Hai-Rong Fang
    Hai-Qiang Zhang
    International Journal of Automation and Computing, 2021, 18 : 96 - 109
12345