MODELING OF NEW SPATIAL PARALLEL STRUCTURES WITH CONSTANT PLATFORM ORIENTATION USING PLANAR PARALLEL MODULES

被引：0
作者：
Vaida, Calin [1 ]
Plitea, Nicolae [1 ]
Cocorean, Dragos [1 ]
Pisla, Doina [1 ]
机构：
[1] Tech Univ Cluj Napoca, Res Ctr Ind Robots Simulat & Testing, Cluj Napoca, Romania
来源：
PROCEEDINGS OF THE ROMANIAN ACADEMY SERIES A-MATHEMATICS PHYSICS TECHNICAL SCIENCES INFORMATION SCIENCE | 2014年 / 15卷 / 01期
关键词：
parallel structure; planar module; kinematics; modeling; workspace; KINEMATIC ANALYSIS; MANIPULATOR; ROBOT;
D O I：
暂无
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
The use of simple planar modules as basis in the development of innovative parallel structures leads to optimized solutions for a wide area of applications without the need of redesign. The authors propose the use of simple two degrees of freedom (DOF) modules with the actuators situated on the fixed platform for the development of a family of 3-DOF parallel mechanisms with constant platform orientation. The kinematics of each mechanism is computed along with the workspace generation emphasizing the differences which appear for different robot sizes and joint geometries. Different positioning trajectories are generated based on the kinematic model of each family of parallel mechanisms.
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页码：43 / 51
页数：9
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