Structure synthesis of 3r2t 5-DOF symmetrical parallel robot mechanisms

被引：0

作者：

Fang, HaiRong ^{[1
]}

Fang, Yuefa ^{[1
]}

Hu, ZhunQing ^{[1
]}

Wang, Shuo ^{[1
]}

机构：

[1] Beijing Jiaotong Univ, Sch Mech & Elect Control Engn, Beijing 100044, Peoples R China

来源：

DCABES 2006 PROCEEDINGS, VOLS 1 AND 2 | 2006年

关键词：

screw theory; robot; parallel mechanisms; structure synthesis;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Using screw theory, motion properties and constraint conditions for 5-DOF parallel manipulators structural platform is analyzed, and the relationship between screw and reciprocal screw of structural platform are established. All possible limbs of force constraints are derived, and structure synthesis for low -DOF parallel robot mechanisms is advanced. Finally, a parallel manipulator with 3-rotation-DOF and 2-translation-DOF is used as an example to describe the synthesis procedure for symmetrical and non-symmetrical 5-DOF parallel manipulators.

引用

页码：998 / 1001

页数：4