The mechanism and kinematics of a 3-DOF in-parallel actuated manipulator

Author

Hongguang, Wang ; Mingyang, Zhao ; Lijin, Fang ; Shujun, Li ; Bo, Zhang

Author_Institution

Shenyang Inst. of Autom., Chinese Acad. of Sci., Liaoning, China

Volume

2

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

804

Abstract

In this paper, a novel three-degree-of-freedom(3-DOF) manipulator based on the parallel link structure and the pantograph mechanism is presented. The manipulator can translate along two directions and rotate along one axis respectively. Compared with the serial open-chain manipulator, the manipulator has higher rigidity, higher accuracy and higher load capacity. The forward and inverse kinematical equations have been formulated. The simulation results show this new type of manipulator has excellent kinematical feature and fits heavy load task. A prototype is designed to perform the cutting tool exchange work in machining center.

Keywords

cutting tools; digital simulation; industrial manipulators; machining; manipulator kinematics; 3 DOF manipulator; cutting tool; forward kinematical equation; inverse kinematical equation; kinematic simulation; machining; pantograph mechanism; parallel actuated manipulator; parallel link structure; serial open chain manipulator; Automation; Cutting tools; Equations; Hydraulic actuators; Kinematics; Manipulator dynamics; Mechanical engineering; Milling machines; Painting; Prototypes;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285689

Filename

1285689