Structural synthesis of serial platform manipulators

被引：36
作者：
Alizade, Rasim [1 ]
Bayram, Cagdas [1 ]
Gezgin, Erkin [1 ]
机构：
[1] Izmir Inst Technol, Dept Engn Mech, TR-35437 Izmir, Turkey
来源：
MECHANISM AND MACHINE THEORY | 2007年 / 42卷 / 05期
关键词：
structural groups; mobility loop-legs equation; serial platform manipulators; parallel Cartesian manipulators;
D O I：
10.1016/j.mechmachtheory.2006.05.005
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, structural synthesis of serial platform manipulators is considered. Serial platform manipulators are created according to the development of the platforms and closed loops. Also a new structural formula of mobility of parallel Cartesian platform robot manipulators is presented. Structural synthesis of serial platform manipulators with lower and higher kinematic pairs with respect to their structures are also examined. Structural synthesis of parallel Cartesian platform robot manipulators is also introduced. History of structural formulas DOE are presented as a table with equations, authors, years and some commentaries. New and revised methods for structural synthesis of serial platform manipulators and parallel Cartesian platform robot manipulators are illustrated along with examples. (C) 2006 Elsevier Ltd. All rights reserved.
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页码：580 / 599
页数：20
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