Mechanism Analysis of a Novel Four-Degree-of-Freedom Parallel Manipulator Based on Larger Workspace

被引：1

作者：

Fang, Hairong ^{[1
]}

Chen, Jianghong ^{[1
]}

Wang, Congzhe ^{[1
]}

机构：

[1] Beijing Jiaotong Univ, Coll Mech & Elect Control Engn, Beijing 100044, Peoples R China

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3 | 2009年

关键词：

Virtual Axis; rhombus Mechanism; huge Workspace; magnification ratio; DESIGN;

D O I：

10.1109/ICAL.2009.5262569

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at improving the problems of traditional parallel robot: covers larger area, smaller workspace. A systematic method is developed to obtain bigger workplace, magnification ratio of Z axis and the compact framework. The virtual axes are employed for reduce the constraining of parallel robot's workspace caused by the length of the links. Based on those a four-degree-of-freedom (4-DoF) parallel mechanism was designed, which is equally replaced based on the concept of generalized pair and the principle of the equivalent kinematic chain; screw theory was used to analyze the DOF; the workspace shape of the traditional and this mechanism were defined by drawing, bigger workspace than traditional manipulator can see from the figure. In addition, the movement of the equalized form of the parallel mechanism is simulated with the MATLAB-SimMechanics.

引用

页码：1019 / 1023

页数：5

共 11 条

[1]

Briot Sebastien, 2008, J MECH DESIGN, V130

[2]

Clavel R., 1988, Proceedings of the 18th International Symposium on Industrial Robots, P91

[3]

Fang YF, 2002, INT J ROBOT RES, V21, P799, DOI 10.1177/0278364902021009314

[4] Fully-isotropic parallel manipulators with Schonflies motions and complex legs with rhombus loops [J].

Gogu, Grigore .

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, :1147-1152

[5] Development of a flying robot with pantograph-based variable wing mechanism [J].

Hara, Naohiro ;

Tanaka, Kazuo ;

Ohtake, Hiroshi ;

Wang, Hua O. .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :349-354

[6] A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability [J].

Liu, XJ ;

Wang, JS ;

Pritschow, G .

MECHANISM AND MACHINE THEORY, 2005, 40 (04) :475-494

[7] Workspace analysis and optimal design of a 3-leg 6-DOF parallel platform mechanism [J].

Monsarrat, B ;

Gosselin, CM .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2003, 19 (06) :954-966

[8]

PIERROT F, 1999, IEEE ASME INT C ADV, P508

[9]

Stewart D., 1965, P I MECH ENG, V180, P371, DOI DOI 10.1243/PIME_PROC_1965_180_029_02

[10] Design, fabrication, and evaluation of a new haptic device using a parallel mechanism [J].

Yoon, J ;

Ryu, J .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2001, 6 (03) :221-233

← 1 2 →