Title :
Analysis and simulation of kinematic characteristic to 3PSS parallel robot mechanism
Author :
Hao, Xiuqing ; Hu, Fusheng ; Zhao, Guixiang
Author_Institution :
Sch. of Mech. Eng., Shandong Univ. of Technol., Jinan
Abstract :
3PSS parallel mechanism is one of the most utility outlook mechanisms among the parallel mechanism, but analysis and development to it is too inadequate. In this paper, analysis of the structure and degrees of freedom to it have been done, the inverse solution to the position analysis of the mechanism was solved by closed method and the forward solution to the position analysis was solved by numerical method. The singularity and the velocity of the mechanism were analyzed by Jacobian matrix, and the simulation of it was done, this established a good foundation for the determination of the work rule and the path-planning of 3PSS parallel mechanism
Keywords :
Jacobian matrices; parallel machines; path planning; robot kinematics; 3PSS parallel robot mechanism; Jacobian matrix; degree-of-freedom; kinematic characteristics; position analysis; Analytical models; Heating; Information analysis; Interference; Jacobian matrices; Kinematics; Mechanical engineering; Parallel machines; Parallel robots; Path planning;
Conference_Titel :
Computer-Aided Industrial Design and Conceptual Design, 2006. CAIDCD '06. 7th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
1-4244-0683-8
Electronic_ISBN :
1-4244-0684-6
DOI :
10.1109/CAIDCD.2006.329424
