Design and Analysis of a Novel Planar Translational Parallel Robotic Mechanism with Three Limbs

被引：1
|
作者：
Chen, Z. H. [1 ]
Zhang, Y. B. [1 ]
Wang, K. M. [1 ]
机构：
[1] Henan Univ Sci & Technol, Sch Mechatron Engn, Luoyang 471003, Peoples R China
来源：
2019 3RD INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE APPLICATIONS AND TECHNOLOGIES (AIAAT 2019) | 2019年 / 646卷
关键词：
KINEMATICS;
D O I：
10.1088/1757-899X/646/1/012004
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A novel planar translational parallel robotic mechanism with three limbs is designed. The degree of freedom (DOF) and output characteristics of mechanism are studied based on the screw theory. The mathematic models including position, velocity and acceleration are derived according to different forms of the actuated inputs. When the linear displacements of two cylindrical joints are selected as the actuated inputs, the velocity Jacobian is an identity matrix and the mechanism has fully isotropic kinematics characteristics. Singularity of the mechanism is discussed and all singular configurations are explored. Finally, kinematics simulation of the mechanism is carried out by ADMAS and MATLAB software, and the kinematic curves are drawn.
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页数：7
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