Kinematic and Workspace Analyses of a 2-RRU&RSR Parallel Manipulator

被引：0
作者：
Zhang, Chao [1 ,2 ]
Li, Bin [1 ,2 ]
Zhao, Xinhua [1 ,2 ]
Li, Yangmin [1 ,2 ]
机构：
[1] Tianjin Univ Technol, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin 300384, Peoples R China
[2] Tianjin Univ Technol, Natl Demonstrat Ctr Expt Mech & Elect Engn Educ, Tianjin, Peoples R China
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a novel over-constrained 2-RRU&RSR parallel manipulator is proposed and analyzed. This mechanism is composed of a moving platform and a base, which connected by two identical revolute-revolute-universal kinematic chains and one revolute-spherical-revolute kinematic chains. Three revolute joints, fixed on the base, are set to be actively actuated. The design process and kinematic are studied in this paper. Firstly, the configuration design and structure characteristics of the mechanism are expounded. Secondly, the kinematic problems, including the inverse and the forward position analyses, are solved analytically. Then, the reachable workspace of the mechanism is analyzed by the inverse position equations. Finally, some numerical examples and conclusions of the mechanism are pointed out.
引用
收藏
页码：1340 / 1345
页数：6
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