DEVELOPMENT OF SPATIAL PARALLEL MANIPULATORS WITH 6 DEGREES OF FREEDOM

被引：5

作者：

FUNABASHI, H ^{[1
]}

HORIE, M ^{[1
]}

KUBOTA, T ^{[1
]}

TAKEDA, Y ^{[1
]}

机构：

[1] KAWASAKI HEAVY IND CO LTD,AKASHI,HYOGO 673,JAPAN

来源：

JSME INTERNATIONAL JOURNAL SERIES III-VIBRATION CONTROL ENGINEERING ENGINEERING FOR INDUSTRY | 1991年 / 34卷 / 03期

关键词：

ROBOTICS; MECHANISM; SPATIAL PARALLEL MANIPULATOR NUMBER SYNTHESIS; KINEMATICS; SINGULAR POSITION; WORKING SPACE;

D O I：

10.1299/jsmec1988.34.382

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In the present paper, kinematic structures of spatial 6-degree-of-freedom (dof) parallel manipulators are obtained by a number synthesis of multiloop linkages which consist of pairs with 1, 2 and/or 3 dof and have no moving closed loops. Concerning simple and practical manipulators among the obtained ones, that is, concerning the parallel manipulator consisting of six arms, each of which has three revolute pairs and a spheric pair, analytical equations for inverse and direct kinematics are derived and singular positions where the configurations of the manipulator cannot be defined are discussed. Moreover, taking account of allowable pressure angles and maximum swing angles of spheric pairs, the relation between the working space and parameters of the manipulator is investigated, revealing that the manipulator can operate with larger vertical motions than the Stewart Platform.

引用

页码：382 / 387

页数：6

共 5 条

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EARL, CF
ROONEY, J
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[2] HUNT KH, 1983, T ASME, V105, P705
[3] Stewart D., 1965, PROC I MECH ENG, V180, P371, DOI DOI 10.1243/PIME_PROC_1965_180_029_02
[4] KINEMATIC AND DYNAMIC ANALYSIS OF PARALLEL MANIPULATORS BY MEANS OF MOTOR ALGEBRA
SUGIMOTO, K
[J]. JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1987, 109 (01): : 3 - 7
[5] THE EFFECT OF LINK PARAMETER ON THE WORKING SPACE OF GENERAL 3R-ROBOT ARMS
TSAI, YC
SONI, AH
[J]. MECHANISM AND MACHINE THEORY, 1984, 19 (01) : 9 - 16

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