Kinematics of a partially decoupled 3R2T symmetrical parallel manipulator 3-RCRR

被引：10

作者：

Zhu, S-J ^{[1
]}

Huang, Z.

Zhao, M. Y. ^{[1
]}

机构：

[1] CMS, Adv Equipment Res & Design Ctr, Shenyang, Peoples R China

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2008年 / 222卷 / 02期

关键词：

kinematics; bionics; five-DoF; parallel manipulator; 3-RCRR;

D O I：

10.1243/09544062JMES514

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The 3R2T (three rotational and two independent translational degree of freedom (DoF)) symmetrical parallel manipulator may be adopted in bionics, for example, simulating the motion of a cervical spine based on their mobility property and performance close to isotropic limit. However, up to now, characteristics of this class of manipulators have not been well studied because of its short history. Hence, to study the feasibility of this class of manipulator for bionics, kinematics for 3-RCRR is analysed including position, singularity, velocity, and acceleration. Different from other 3R2T 5-DoF symmetrical parallel manipulators, the mobility of 3-RCRR is partially decoupled, which makes the realization of control system easier than in others.

引用

页码：277 / 285

页数：9

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