Geared Linkages with Linear Actuation Used as Kinematic Chains of a Planar Parallel Manipulator

被引：10

作者：

Lovasz, Erwin-Christian ^{[1
]}

Grigorescu, Sanda Margareta ^{[1
]}

Margineanu, Dan Teodor ^{[1
]}

Gruescu, Corina Mihaela ^{[1
]}

Pop, Cristian ^{[1
]}

Ciupe, Valentin ^{[1
]}

Maniu, Inocentiu ^{[1
]}

机构：

[1] Politehn Univ, Timisoara, Romania

来源：

MECHANISMS, TRANSMISSIONS AND APPLICATIONS | 2015年 / 31卷

关键词：

Parallel planar manipulator; Geared linkage with linear actuator; Kinematics; Singularity; WORKSPACE; DESIGN;

D O I：

10.1007/978-3-319-17067-1_3

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The paper deals with a novel kinematic chain, which uses a geared linkage with linear actuation. The structure is used to actuate the mobile platform of a parallel planar manipulator (3-RRR). The main characteristics of the geared linkage with linear actuation are the large rotation angle with proper transmission angle and the approximately linear transmission function in a large range. These properties of the geared linkages with linear actuation as kinematic chain allow the avoiding of the first type singularities and an easier control of the mobile platform movement.

引用

页码：21 / 31

页数：11

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