Kinematics and optimization of the translating 3-CCR/3-RCC parallel mechanisms

被引：2

作者：

Callegari, Massimo ^{[1
]}

Palpacelli, Matteo-Claudio ^{[1
]}

机构：

[1] Polytech Univ Marche, Dept Mech, Ancona, Italy

来源：

ADVANCES IN ROBOT KINEMATICS: MECHANISMS AND MOTION | 2006年

关键词：

parallel robots; translating parallel machines; kinematic analysis; conceptual design; optimization;

D O I：

10.1007/978-1-4020-4941-5_46

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents the kinematics of the 3-RCC/3-CCR translating parallel mechanisms and several machines of such family are described in detail taking into account different possible kinds of actuations. They all share good kinematic properties as for instance simple closed-form relations and convex workspace, but differ for overall dimensions of the mobile platform and dynamic behaviour: therefore the concepts have been optimized and compared against common performance indices, to determine the best solutions for selected classes of applications. Based on such results, a prototype robot has been finally built.

引用

页码：423 / +

页数：3

共 9 条

[1]

[Anonymous], 1997, THESIS U MARYLAND CO

[2]

Callegari M, 2005, IEEE INT CONF ROBOT, P4020

[3]

CALLEGARI M, 2003, P INT WORKSH ROB ALP

[4]

CALLEGARI M, 2003, ASME, V125, P308, DOI DOI 10.1115/1.1563637