INVERSE AND DIRECT GEOMETRIC MODEL OF A NEW PARALLEL ROBOT WITH SIX DEGREES OF FREEDOM AND THREE GUIDING KINEMATIC CHAINS OF THE PLATFORM

被引：0

作者：

Sabou, Carmen ^{[1
]}

Vaida, Calin ^{[1
]}

Glogoveanu, Maria ^{[1
]}

Plitea, Nicolae ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Dept Mech Engn & Comp Program, 103 Muncii Str, RO-400641 Cluj Napoca, Romania

来源：

ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2011年 / 54卷 / 02期

关键词：

parallel robot; six freedom degrees; kinematics chain;

D O I：

暂无

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

The paper presents a new parallel robot with six degrees of freedom and three guiding kinematic chains of the platform. Starting from an initial solution with actuators on levels one and three, a new configuration is proposed in order to position all the actuators on the fixed platform. The inverse and direct geometric models are presented. While the inverse geometric model is obtained in closed form, the direct geometric model cannot be solved in closed form, the direct geometric solutions being computed using the Newton-Raphson numerical method. The robot can be used in assembly tasks and as a module for minimally invasive surgical systems.

引用

页码：403 / 410

页数：8

共 32 条

[1] INVERSE AND DIRECT GEOMETRIC MODEL OF A NEW PARALLEL ROBOT WITH SIX DEGREES OF FREEDOM AND THREE GUIDING KINEMATIC CHAINS OF THE PLATFORM
Sabou, Carmen
Vaida, Calin
Glogoveanu, Maria
Plitea, Nicolae
QUALITY AND INNOVATION IN ENGINEERING AND MANAGEMENT, 2011, : 357 - 362
[2] THE KINEMATICS OF A NEW PARALLEL ROBOT WITH SIX DEGREES OF FREEDOM AND THREE GUIDING KINEMATIC CHAINS OF THE PLATFORM
Sabou, Carmen
Plitea, Nicolae
ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2011, 54 (01): : 205 - 214
[3] THE DIRECT AND INVERSE GEOMETRICAL MODELS FOR A PARALLEL RECONFIGURABLE ROBOT WITH SIX DEGREES OF FREEDOM AND TWO GUIDING KINEMATIC CHAINS OF THE PLATFORM
Dadarlat, Rares
Pisla, Doina
Vaida, Calin
Konya, Bogdan
Plitea, Nicolae
QUALITY AND INNOVATION IN ENGINEERING AND MANAGEMENT, 2011, : 257 - 262
[4] PARALLEL RECONFIGURABLE ROBOT WITH SIX DEGREES OF FREEDOM AND TWO GUIDING KINEMATIC CHAINS OF THE PLATFORM AND ITS VARIANTS WITH FIVE, FOUR, THREE AND TWO DEGREES OF FREEDOM
Plitea, Nicolae
Dadarlat, Rares
ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2011, 54 (01): : 49 - 60
[5] Inverse, Direct Kinetics and Differential Kinematic Control of Parallel Robot with Six Degrees of Hexa Freedom - Hunt
Valencia, Angie J.
Mauledoux, Mauricio
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[6] DEVELOPMENT OF A NEW PARALLEL ROBOT WITH FOUR DEGREES OF FREEDOM AND TWO GUIDING KINEMATIC CHAINS OF THE END-EFFECTOR
Glogoveanu, Maria
Vaida, Calin
Sabou, Carmen
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QUALITY AND INNOVATION IN ENGINEERING AND MANAGEMENT, 2011, : 285 - 288
[7] A NEW RECONFIGURABLE PARALLEL ROBOT WITH SIX DEGREES OF FREEDOM
Konya, Bogdan
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Dadarlat, Rares
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QUALITY AND INNOVATION IN ENGINEERING AND MANAGEMENT, 2011, : 297 - 302
[8] A Model for the Kinematical Analysis of a Six Degrees of Freedom Parallel Robot
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PROCEEDINGS OF 2010 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR 2010), VOLS. 1-3, 2010,
[9] THE DYNAMICS OF A NEW RECONFIGURABLE PARALLEL ROBOT WITH SIX DEGREES OF FREEDOM
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ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2012, 55 (04): : 859 - 868
[10] INVERSE AND DIRECT GEOMETRICAL MODEL OF A NEW SURGICAL ROBOT WITH FIVE DEGREES OF FREEDOM
Scurtu, Liviu -Iacob
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ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING, 2011, 54 (02): : 420 - 427

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