Design and kinematics of a parallel manipulator for manufacturing

被引：0

作者：

Wang, QY ^{[1
]}

Zou, H ^{[1
]}

Zhao, MY ^{[1
]}

Li, QM ^{[1
]}

Zheng, HW ^{[1
]}

机构：

[1] Northeastern Univ, Inst Engn Mech, Sheyang, Peoples R China

来源：

CIRP ANNALS 1997 MANUFACTURING TECHNOLOGY, VOLUME 46/1/1997: ANNALS OF THE INTERNATIONAL INSTITUTION FOR PRODUCTION ENGINEERING RESEARCH | 1997年 / 46卷

关键词：

parallel manipulator; mechanism design; kinematics 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：

This paper presents a new model of parallel manipulator for manufacturing, whose mechanism comes from the general Stewart platform which has the advantages of high rigidity and high load capacity. A scheme of the link mechanism is also proposed to make the link structure very simple. The mechanism parameters are optimized by workspace analysis of the parallel mechanism. With the view of kinematics equivalence between parallel mechanism and serial mechanism, by way of hypothesis serial mechanism and branch hypothesis serial mechanism, an efficient kinematics algorithm has been developed. The problem, derived motion produced by the link structure, has also been solved conveniently.

引用

页码：297 / 300

页数：4