Kinematic Analysis and Simulation of a Three-DOF Parallel Mechanism

被引：0

作者：

Zhang, Yan-Bin ^{[1
]}

Wang, Zeng-Hui ^{[1
]}

Ding, Ding ^{[1
]}

Zhao, Yi-Fu ^{[1
]}

Xue, Yu-Jun ^{[1
]}

机构：

[1] Henan Univ Sci & Technol, Sch Mechatron Engn, Luoyang, Peoples R China

来源：

2016 INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND CONTROL AUTOMATION (ICMECA 2016) | 2016年

关键词：

Translational Parallel Manipulator; Kinematics Analysis; Simulation;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A new novel 3-DOF parallel mechanism, which is composed of a moving platform connected with a fixed base by three limbs, is presented in this dissertation. Firstly, the DOF of the parallel manipulators is derived by Position and Orientation Characteristics (POC) Method. Then, the direct and the inverse analytic equations of position, velocity and acceleration of the parallel mechanism are derived by D-H coordinate transformation. At last, the virtual prototype model of the mechanism is established based on the Pro/E software and the kinematic simulation is completed as well. This work provides the theoretical foundation for further study of the manipulator's dynamics analysis and control design.

引用

页码：134 / 140

页数：7

共 9 条

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