Solution to the motion of a delta manipulator with three degrees of freedom

被引：4
|
作者：
Xiong, Wei [1 ]
Chen, Zong-Tao [1 ]
Wu, Hao [1 ]
Xu, Gang [1 ]
Ding, Tao [1 ]
Mei, Hua-Ping [1 ]
Li, Yu-mei [1 ]
机构：
[1] Hubei Engn Univ, Sch Mech Engn, Xiaogan, Peoples R China
来源：
FERROELECTRICS | 2018年 / 529卷 / 01期
关键词：
Three degrees of freedom; parallel manipulator; kinematic simulation; Pro/E; ADAMS;
D O I：
10.1080/00150193.2018.1458534
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Based on the mechanical structure of a Delta manipulator with three degrees of freedom, the kinematic characteristics of the parallel manipulator were analyzed, and the vector relation between the static and moving platforms was given. The inverse kinematic function of the three-degree-of-freedom (3-DOF)parallel manipulator was deduced by the vector equation. The simulated forward kinematic solution in the moving platform was carried out by Pro/E modeling software and virtual prototype simulation software ADAMS, which is proved simple. These research contents provide a valuable reference for the adjustment and operation of 3-DOF Delta manipulator prototypes with respect to its dynamic performance, motion track planning, mechanical structure, system control, etc.
引用
收藏
页码：159 / 167
页数：9
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