Title :
Kinematics analysis and simulation of a new 3 degrees of freedom spatial robot mechanism composed by closed chain
Author :
Wang Zeyang ; Zhao Ziqiang ; Pang Zhifeng ; Zhang ChunLin
Author_Institution :
Sch. of Mech. Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
A new type of 3-DOF spatial mechanism composed by closed chain is proposed. The mechanism is constituted by two parallel four-bar linkages which are fixed on a moving platform. The moving platform can not only rotate around its own axis but also can translate along the axis. The four-bar linkage has a crank and does not have the quick-return characteristic. The mechanism has the features of symmetry, high stiffness and large workspace. The details of its kinematics have been described by using analytical method. Firstly, the closed-form solutions of both direct position and inverse position analysis are derived. Secondly, the velocity and acceleration analysis are derived. Thirdly, the boundaries of workspace are given. Lastly, a simulation of workspace in certain conditions will be given.
Keywords :
acceleration; robot dynamics; robot kinematics; velocity; 3DOF spatial mechanism; acceleration analysis; analytical method; closed chain; four-bar linkages; inverse position analysis; moving platforms; robot kinematics analysis; three-degrees-of-freedom spatial robot mechanism; velocity analysis; Couplings; End effectors; Equations; Kinematics; Mathematical model; Service robots; 3-DOF spatial mechanism; closed chain; direct position; inverse position; workspace;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5987200
