Kinematics Analysis and Simulation of a Novel Spatial Translational Parallel Manipulator

被引：0
|
作者：
Zhang, Yanbin [1 ]
Jing, Xianling [1 ]
机构：
[1] Henan Univ Sci & Technol, Sch Mechatron Engn, Luoyang, Peoples R China
来源：
2017 2ND INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION ENGINEERING (ICRAE) | 2017年
关键词：
parallel robotic mechanism; kinematic analysis; simulation; mobility;
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 non-overconstrained spatial translational parallel manipulator is proposed. The mechanism consists of three identical CPU-type kinematic chains. Based on the screw theory, the output characteristics and the degree of freedom (DOF) of the moving platform are analyzed and calculated. The mathematical models are established including position, velocity and acceleration. The mapping relationship between the variables of passive joints and the actuated input variables are discussed and the corresponding expressions are derived. The kinematics simulation of the mechanism is carried out by using SolidWorks and Adams software. The simulation curves of the displacements, velocities and accelerations of the mechanism are described. In addition, the kinematical curves of the passive joints are obtained as well. This work contributes to provide the theoretical proof for the prototype development of the mechanism.
引用
收藏
页码：131 / 135
页数：5
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