Kinematics analysis of a novel parallel manipulator

被引：46
作者：
Zhang, Yanbin [1 ,2 ]
Liu, Hongzhao [1 ]
Wu, Xin [2 ]
机构：
[1] Xian Univ Technol, Dept Mech & Precis Instrumental Engn, Xian 710048, Shanxi, Peoples R China
[2] Henan Univ Sci & Technol, Coll Electromech Engn, Luoyang 4710003, Henan, Peoples R China
来源：
MECHANISM AND MACHINE THEORY | 2009年 / 44卷 / 09期
基金：
美国国家科学基金会;
关键词：
Parallel manipulator; Kinematics analysis; Fully-isotropic; Condition number; Jacobian matrix; Singularity; STRUCTURAL SYNTHESIS; SINGULARITY LOCI; MECHANISMS; DESIGN; OPTIMIZATION; ROBOTS;
D O I：
10.1016/j.mechmachtheory.2009.01.006
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A novel 3-DOF uncoupled spatial parallel manipulator is presented. Firstly, geometrical structure and mobility analysis of the manipulator are addressed. Then the forward and the inverse kinematic problems are analyzed, singularity analysis of the mechanism is performed based on the singular conditions of the inverse and the direct Jacobian matrices and the screw theory, fully-isotropic design is developed in virtue of the condition number of the Jacobian being identically equal to 1. Finally, a potential application of the mechanism is briefly described. (C) 2009 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1648 / 1657
页数：10
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