A method for extending planar axis-symmetric parallel manipulators to spatial mechanisms

被引：18

作者：

Isaksson, Mats ^{[1
]}

Eriksson, Anders ^{[2
]}

Watson, Matthew ^{[1
]}

Brogardh, Torgny ^{[3
]}

Nahavandi, Saeid ^{[1
]}

机构：

[1] Deakin Univ, CISR, Geelong, Vic 3217, Australia

[2] Univ Adelaide, Sch Comp Sci, Adelaide, SA 5005, Australia

[3] ABB Robot, SE-72168 Vasteras, Sweden

来源：

MECHANISM AND MACHINE THEORY | 2015年 / 83卷

关键词：

Parallel manipulator; Linkage substitution; Reciprocal screws; Planar manipulator; Axis-symmetric; Rotation-symmetric;

D O I：

10.1016/j.mechmachtheory.2014.08.014

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper investigates axis-symmetric parallel manipulators, composed of a central base column and an arm system able to rotate around this column. The arm system includes several actuated upper arms, each connected to a manipulated platform by one or more lower arm linkages. Such manipulators feature an extensive positional workspace in relation to the manipulator footprint and equal manipulator properties in all radial half-planes defined by the common rotation-axis of the upper arms. The similarities between planar manipulators exclusively employing 2-degrees-of-freedom (2-DOF) lower arm linkages and lower mobility spatial manipulators only utilising 5-DOF lower arm linkages are analysed. The 2-DOF linkages are composed of a link with a 1-DOF hinge on both ends whilst the 5-DOF linkages utilise 3-DOF spherical joints and 2-DOF universal joints. By employing a proposed linkage substitution scheme, it is shown how a wide range of spatial axis-symmetric parallel manipulators can be derived from a limited range of planar manipulators of the same type. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：1 / 13

页数：13

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