Type synthesis of analytic translational parallel manipulators

被引：0

作者：

Kong, XW ^{[1
]}

Gosselin, CM ^{[1
]}

机构：

[1] Univ Laval, Dept Genie Mecan, Quebec City, PQ G1K 7P4, Canada

来源：

ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS | 2004年

关键词：

analytic parallel manipulator; parallel manipulator; translational parallel manipulator; type synthesis; forward displacement analysis;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An analytic parallel manipulator is a parallel manipulator for which a characteristic univariate polynomial of degree four or lower can be obtained symbolically. This paper presents a geometric approach to the type synthesis of analytic TPMs (3-legged 3-DOF translational parallel manipulators). Leg-surfaces of a TPM are introduced and a geometric interpretation of the forward displacement analysis of a TPM is given. A geometric approach to the type synthesis of analytic TPMs is then proposed. Finally, a broad class of analytic TPMs is obtained.

引用

页码：1642 / 1646

页数：5