Design and analysis of a 3-DOF spherical parallel manipulator - CORRECTED VERSION

被引：9

作者：

Zhang, Dan ^{[1
,2
]}

Zhang, Fan ^{[3
]}

机构：

[1] Univ Ontario Inst Technol, Oshawa, ON L1H 7K4, Canada

[2] Qingdao Technol Univ, Qingdao 266033, Peoples R China

[3] Shanghai Univ Engn Sci, Dept Mech Engn, Shanghai 201620, Peoples R China

来源：

ROBOTICA | 2011年 / 29卷

基金：

加拿大自然科学与工程研究理事会;

关键词：

Parallel manipulators; Design; Automation; Control of robotic systems; Mechatronic systems;

D O I：

10.1017/S0263574711000592

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we propose a unique, 3 degree-of-freedom (DOF) parallel wrist. Specifically, an over-constrained spherical 3-DOF parallel mechanism is presented and the modified structure, which avoids the redundant constraints, is also introduced.

引用

页码：1109 / 1116

页数：8

共 11 条

[1] THE OPTIMUM KINEMATIC DESIGN OF A SPHERICAL 3-DEGREE-OF-FREEDOM PARALLEL MANIPULATOR [J].

GOSSELIN, C ;

ANGELES, J .

JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1989, 111 (02) :202-207

[2] The computation of all 4R serial spherical wrists with an isotropic architecture [J].

Chablat, D ;

Angeles, J .

JOURNAL OF MECHANICAL DESIGN, 2003, 125 (02) :275-280

[3] A new family of spherical parallel manipulators [J].

Di Gregorio, R .

ROBOTICA, 2002, 20 :353-358

[4]

GOSSELIN C, 1995, P 2 WORKSH COMP KIN, P231

[5]

HUANG Z, 1991, SPATIAL MECH

[6] Jacobian analysis of limited-DOF parallel manipulators [J].

Joshi, SA ;

Tsai, LW .

JOURNAL OF MECHANICAL DESIGN, 2002, 124 (02) :254-258

[7]

Kong X., 2007, Type Synthesis of Parallel Mechanisms

[8] Design of spherical parallel mechanisms for application to laparoscopic surgery [J].

Li, TM ;

Payandeh, S .

ROBOTICA, 2002, 20 (02) :133-138

[9] R-CUBE, a decoupled parallel manipulator only with revolute joints [J].

Li, WM ;

Gao, F ;

Zhang, JJ .

MECHANISM AND MACHINE THEORY, 2005, 40 (04) :467-473

[10]

MOHAMED MG, 1985, ASME, V107, P226

← 1 2 →