The dynamics of a parallel Schonflies-motion generator

被引：31
作者：
Eskandary, Peyman Karimi [1 ]
Angeles, Jorge
机构：
[1] Dept Mech, Quebec City, PQ, Canada
来源：
MECHANISM AND MACHINE THEORY | 2018年 / 119卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
Cylindrical drive; Schonflies-motion generators; Kinematics; Dynamics; Parallel architecture; DESIGN; ROBOT; SINGULARITY; MECHANISM;
D O I：
10.1016/j.mechmachtheory.2017.09.006
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A parallel architecture was recently proposed to generate Schonflies motions. The CRRHHRRC closed kinematic chain offers a symmetric single-loop architecture, isostatic design, and high rotatability(1) of its gripper. This pick-and-place robot uses an innovative cylindrical drive, which is a realization of a two-degree-of-freedom cylindrical actuator. The authors report the kinematics and dynamics analysis of the above-mentioned Schonflies-motion generator, developed at McGill University's Centre for Intelligent Machines. This analysis is intended to optimize the robot design. Validation of the mathematical model was conducted experimentally. The results reveal the accuracy of the model. (C) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：119 / 129
页数：11
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