Kinematic Design of a 6-DOF Parallel Manipulator with Decoupled Translation and Rotation
Data(s) |
01/06/2006
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Resumo |
A new three-limb, six-degree-of-freedom (DOF) parallel manipulator (PM), termed a selectively actuated PM (SA-PM), is proposed. The end-effector of the manipulator can produce 3-DOF spherical motion, 3-DOF translation, 3-DOF hybrid motion, or complete 6-DOF spatial motion, depending on the types of the actuation (rotary or linear) chosen for the actuators. The manipulator architecture completely decouples translation and rotation of the end-effector for individual control. The structure synthesis of SA-PM is achieved using the line geometry. Singularity analysis shows that the SA-PM is an isotropic translation PM when all the actuators are in linear mode. Because of the decoupled motion structure, a decomposition method is applied for both the displacement analysis and dimension optimization. With the index of maximal workspace satisfying given global conditioning requirements, the geometrical parameters are optimized. As a result, the translational workspace is a cube, and the orientation workspace is nearly unlimited. |
Identificador |
http://dx.doi.org/10.1109/TRO.2006.870648 http://www.scopus.com/inward/record.url?scp=33745137412&partnerID=8YFLogxK |
Idioma(s) |
eng |
Direitos |
info:eu-repo/semantics/restrictedAccess |
Fonte |
Jin , Y , Chen , I-M & Yang , G 2006 , ' Kinematic Design of a 6-DOF Parallel Manipulator with Decoupled Translation and Rotation ' IEEE Transactions on Robotics , vol 22 , no. 3 , Journal impact factor: 2.649 , pp. 545-551 . DOI: 10.1109/TRO.2006.870648 |
Palavras-Chave | #/dk/atira/pure/subjectarea/asjc/2200/2207 #Control and Systems Engineering #/dk/atira/pure/subjectarea/asjc/2200/2208 #Electrical and Electronic Engineering |
Tipo |
article |