Systematic Approach for Structure Analysis of 3-DoF Parallel Manipulators with Special Displacement

Author

Li, Kunquan ; Wen, Rui

Author_Institution

Dept. of Mech. & Eng., Henan Inst. of Eng., Zhengzhou, China

Volume

3

fYear

2010

fDate

13-14 March 2010

Firstpage

722

Lastpage

725

Abstract

Screw theory is used to analysis limb structure for 3-degree-of freedom (DoF) parallel manipulators. The procedure of limb joint screw system is consummated, and a better completely list of the limb structure with the special displacement for 3-DoF parallel manipulators is explored. Given the limb wrenches system, the joint screws are determined by a linear combination of the basis screws, the characteristics with the special displacement of the moving platform will be enumerated and classified according to the screws system of joints and links making up the limbs. The kinematical property of platform and the geometrical conditions for special displacement are presented.

Keywords

fasteners; manipulator kinematics; 3-DoF parallel manipulators; kinematical property; limb joint screw system; limb wrenches system; screw theory; structure analysis; Automation; Civil engineering; Displacement measurement; Equations; Fasteners; Manipulators; Mechanical variables measurement; Mechatronics; Vectors; Writing;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on

Conference_Location

Changsha City

Print_ISBN

978-1-4244-5001-5

Electronic_ISBN

978-1-4244-5739-7

Type

conf

DOI

10.1109/ICMTMA.2010.433

Filename

5458998