A new planar two degrees of freedom parallel mechanism

被引：0
|
作者：
Liu, XJ [1 ]
Wang, JS [1 ]
Li, JF [1 ]
Gao, F [1 ]
机构：
[1] Tsinghua Univ, Mfg Engn Inst, Dept Precis Instruments, Beijing 100084, Peoples R China
来源：
MOBILE ROBOT TECHNOLOGY, PROCEEDINGS | 2001年
关键词：
mechanism; kinematics; singularities; manipulators; robots; analysis;
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：
In this paper, a novel planar two degrees of freedom parallel mechanism is presented that employs two parallelogram mechanisms and constrains the platform of the mechanism output to planar, translational motion. Closed-form solutions are developed for both the inverse and direct kinematics. The velocity equation of the new parallel mechanism is given. Two types of singularities are obtained. And a description of the workspace for the mechanism is provided. The mechanism has wide applications in part handling, mobile bases for a spatial manipulator, etc. The kinematics, velocity, singularity and workspace analyses presented in this paper can be of great help in the design, trajectory planning and control of such devices. Copyright (C) 2001 IFAC.
引用
收藏
页码：113 / 117
页数：5
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