A new 3-DOF parallel manipulator

被引：0
|
作者：
Petko, M [1 ]
Karpiel, G [1 ]
Prusak, D [1 ]
Martowicz, A [1 ]
机构：
[1] AGH Univ Sci & Technol, Dept Robot & Machine Dynam, PL-30059 Krakow, Poland
来源：
ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2004年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper presents a novel, versatile 3-RRPRR (Revolute-Revolute-Prismatic-Revolute-Revolute joints), fully-parallel manipulator with three translational degrees of freedom for pick-and-place and machining applications, characterising in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, its kinematics and dynamics is analysed and modelled. A trajectory generator and a controller are proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.
引用
收藏
页码：127 / 132
页数：6
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