Design of a novel 5-DOF parallel kinematic machine tool based on workspace

被引：21

作者：

Gao, F ^{[1
]}

Peng, BB

Li, WM

Zhao, H

机构：

[1] Beijing Univ Aeronaut & Astronaut, Robarts Res Inst, Beijing 100083, Peoples R China

[2] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China

[3] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200030, Peoples R China

来源：

ROBOTICA | 2005年 / 23卷

关键词：

parallel tool; inverse energy; reachable work-space; dimensional parameter;

D O I：

10.1017/S0263574704000451

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper an inverse concept idea is presented to determine the main configuration dimensional parameters of a novel 5-DOF parallel kinematic machine tool. By the new described orientation work-space, the motion of the passive joints on the moving platform can be expressed in the fixed coordinate analytically. Some relationships between the reachable workspace and the dimensional parameters of the parallel machine tool have been obtained with graphical representation.

引用

页码：35 / 43

页数：9

共 5 条

[1] New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs [J].

Gao, F ;

Li, WM ;

Zhao, XC ;

Jin, ZL ;

Zhao, H .

MECHANISM AND MACHINE THEORY, 2002, 37 (11) :1395-1411

[2] A GLOBAL PERFORMANCE INDEX FOR THE KINEMATIC OPTIMIZATION OF ROBOTIC MANIPULATORS [J].

GOSSELIN, C ;

ANGELES, J .

JOURNAL OF MECHANICAL DESIGN, 1991, 113 (03) :220-226

[3]

MERLET JP, 1999, IMPORTANCE OPTIMAL D, P99

[4] A FAMILY OF STEWART PLATFORMS WITH OPTIMAL DEXTERITY [J].

PITTENS, KH ;

PODHORODESKI, RP .

JOURNAL OF ROBOTIC SYSTEMS, 1993, 10 (04) :463-479

[5] Kinematic isotropy and the optimum design of parallel manipulators [J].

Zanganeh, KE ;

Angeles, J .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1997, 16 (02) :185-197

← 1 →