Dimensional Synthesis of Planar Parallel Manipulator Using Geared Linkages with Linear Actuation as Kinematic Chains

被引：0

作者：

Grigorescu, S. M. ^{[1
]}

Lovasz, E. -C. ^{[1
]}

Margineanu, D. T. ^{[1
]}

Pop, C. ^{[1
]}

Pop, F. ^{[1
]}

机构：

[1] Politech Univ Timisoara, Timisoara, Romania

来源：

NEW ADVANCES IN MECHANISMS, MECHANICAL TRANSMISSIONS AND ROBOTICS | 2017年 / 46卷

关键词：

Parallel planar manipulator; Geared linkage with linear actuator; Synthesis; Singularity; SINGULARITY-FREE WORKSPACE; MECHANISMS; JOINTS;

D O I：

10.1007/978-3-319-45450-4_8

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The behaviour of the kinematic chain R(RPRGR) RR using geared linkages with linear actuation recommends to be used as connection kinematic chain (RPRGR) for the parallel manipulators. The paper proposes a dimensional synthesis method for the planar parallel manipulator using geared linkages with linear actuation. It computes the minimum link lengths of the connection chain by considering the condition to avoid the desired trajectory intersection with the singularities loci in the achieved workspace. The synthesis results were analysed by means of inverse kinematic analysis.

引用

页码：77 / 85

页数：9

共 13 条

[1] Optimum synthesis of planar parallel manipulators based on kinematic isotropy and force balancing [J].

Alici, G ;

Shirinzadeh, B .

ROBOTICA, 2004, 22 :97-108

[2] The synthesis of three-degree-of-freedom planar parallel mechanisms with revolute joints (3-(R)under-barRR) for an optimal singularity-free workspace [J].

Arsenault, M ;

Boudreau, R .

JOURNAL OF ROBOTIC SYSTEMS, 2004, 21 (05) :259-274

[3]

Buium Florentin, 2014, Applied Mechanics and Materials, V658, P569, DOI 10.4028/www.scientific.net/AMM.658.569

[4] The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity-free workspace [J].

Gallant, M ;

Boudreau, R .

JOURNAL OF ROBOTIC SYSTEMS, 2002, 19 (01) :13-24

[5] Structural synthesis of parallel robots [J].

Gogu G. .

Solid Mechanics and its Applications, 2010, 173 :1-703

[6] THE OPTIMUM KINEMATIC DESIGN OF A PLANAR 3-DEGREE-OF-FREEDOM PARALLEL MANIPULATOR [J].

GOSSELIN, C ;

ANGELES, J .

JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1988, 110 (01) :35-41

[7] Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators [J].

Hernandez, Alfonso ;

Ibarreche, Jose Ignacio ;

Petuya, Victor ;

Altuzarra, Oscar .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2014, 11

[8] GEOMETRIC SYNTHESIS OF PLANAR 3-RPR PARALLEL MECHANISMS FOR SINGULARITY-FREE WORKSPACE [J].

Jiang, Qimi ;

Gosselin, Clement M. .

TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2009, 33 (04) :667-678

[9] Avoiding the singularities of 3-RPR parallel mechanisms via dimensional synthesis and self-reconfigurability [J].

Karimi, Amirhossein ;

Masouleh, Mehdi Tale ;

Cardou, Philippe .

MECHANISM AND MACHINE THEORY, 2016, 99 :189-206

[10]

Lovasz E.-C., 2015, P 14 IFTOMM WORLD C, DOI 10.6567/IFToMM.14TH.WC.OS8.026

← 1 2 →