DocumentCode
1792116
Title
A study on less DOF parallel mechanism based on 3-RRRT parallel manipulator
Author
Huang Weiming ; Zhao Xinhua ; Yang Yuwei ; Li Peng
Author_Institution
Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China
fYear
2014
fDate
3-6 Aug. 2014
Firstpage
1063
Lastpage
1067
Abstract
In this paper, to exploring the less d.o.f parallel manipulator, the authors choose the 3-RRRT parallel manipulator as researching object, build a D-H coordinate system after reasonable analysis with the thought of virtual link, and then establish a mathematical model of kinematic by using the method of Homogeneous Coordinate Transformation. The direct and inverse solutions will be obtained by using the MATLAB software. At last, the solutions and the mathematical model will be proved right with PRO / E software.
Keywords
manipulator kinematics; 3-RRRT parallel manipulator; D-H coordinate system; DOF parallel manipulator; MATLAB software; PRO/E software; homogeneous coordinate transformation; kinematic; mathematical model; virtual link; Kinematics; MATLAB; Manipulators; Mathematical model; Mobile communication; Solid modeling; Homogeneous Coordinate Transformation; Less DOF Parallel Manipulator; Numerical Simulation;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4799-3978-7
Type
conf
DOI
10.1109/ICMA.2014.6885845
Filename
6885845
Link To Document