Modelling and index analysis of a Delta-type mechanism

被引：13
|
作者：
Hsu, KS
Karkoub, M
Tsai, MC
Her, MG
机构：
[1] Kao Yuan Inst Technol, Dept Automat Engn, Kaohsiung 821, Taiwan
[2] Kuwait Univ, Coll Engn & Petr, Dept Mech & Ind Engn, Kuwait, Kuwait
[3] Natl Cheng Kung Univ, Dept Mech Engn, Tainan 70101, Taiwan
[4] Tatung Univ, Dept Mech Engn, Taipei, Taiwan
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS | 2004年 / 218卷 / 03期
关键词：
three-dimensional parallel robot arm; graphical performance; workspace; path configuration;
D O I：
10.1243/1464419042035944
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A new type of three-dimensional parallel robot with a human interface as well as parallel motion control of a platform manipulator actuated by three a.c. servomotors is presented in this paper. The performance of this parallel robot is analysed using its forward and inverse kinematics. The analysis is performed using known quantified and graphical performance synthesis tools. Computer simulations of the parallel robot system have shown good correlation between physical interpretations and the results of using the theoretical analysis tools.
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页码：121 / 132
页数：12
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